The mathematical model and control of human-machine perceptual feedback system

Han U. Yoon, Seth A. Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a novel system architecture and control scheme, a human-machine perceptual feedback system and control, to enhance a user's control performance while he is teleoperating a mobile robot with a joystick. First, we model the user, robot, and human-machine perceptual feedback controller. The two key roles of the controller are: a) displaying a preferred road width to the user with respect to various road types, and b) constraining the maximum linear and angular velocity of the robot for safer maneuver as well. Second, we define a perception to behavior stability and perform a stability analysis. Finally, we present simulation results showing that a novice user can teleoperate the mobile robot successfully along sidewalks by our approach.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2070-2075
Number of pages6
DOIs
StatePublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/TerritoryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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