RT Journal Article
T1 A Biomimetical Dynamic Window Approach to Navigation for Collaborative Control.
A1 Ramos-Jiménez, Gonzalo Pascual
A1 Ballesteros-Gómez, Joaquín
A1 Urdiales-García, Amalia Cristina
A1 Martínez Velasco, Antonio B.
K1 Robótica
AB —Shared control is a strategy used in assistive plat forms to combine human and robot orders to achieve a goal. Col laborative control is a specific shared control approach, in whichuser’s and robot’s commands are merged into an emergent onein a continuous way. Robot commands tend to improve efficiencyand safety. However, sometimes, assistance can be rejected by userswhen their commands are too altered. This provokes frustrationand stress and, usually, decreases emergent efficiency. To improveacceptance, robot navigation algorithms can be adapted to mimichuman behavior when possible. We propose a novel variation ofthe well-known dynamic window approach (DWA) that we callbiomimetical DWA (BDWA). The BDWA relies on a reward func tion extracted from real traces from volunteers presenting differentmotor disabilities navigating in a hospital environment using a rol lator for support. We have compared the BDWA with other reactivealgorithms in terms of similarity to paths completed by people withdisabilities using a robotic rollator in a rehabilitation hospital unit.The BDWA outperforms all tested algorithms in terms of likenessto human paths and success rate.
PB IEEE
YR 2017
FD 2017-05-23
LK https://hdl.handle.net/10630/30224
UL https://hdl.handle.net/10630/30224
LA eng
NO Ballesteros, J., Urdiales, C., Velasco, A. B. M., & Ramos-Jimenez, G. (2017). A Biomimetical Dynamic Window Approach to Navigation for Collaborative Control. IEEE Transactions on Human-Machine Systems, 47(6), 1123–1133.
NO This work was supported in part by the Spanish Ministerio de Educacion yCiencia through Project TEC2011-29106 and Project TEC2014-56256-C2-1-P,in part by the Hospital Regional Universitario of Malaga, and in part by the ´Fondazione Santa Lucia of Rome. This paper was recommended by AssociateEditor J. Wachs. (Corresponding author: Joaquin Ballesteros.)
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 3 mar 2026