RT Conference Proceedings
T1 Towards a Shared Control Navigation Function: Efficiency Based Command Modulation
A1 Fernández-Carmona, Manuel
A1 Peula-Palacios, José Manuel
A1 Urdiales-García, Amalia Cristina
A1 Sandoval-Hernández, Francisco
K1 Redes neuronales artificiales
AB This paper presents a novel shared control algorithm for robotizedwheelchairs. The proposed algorithm is a new method to extendautonomous navigation techniques into the shared control domain. It reactivelycombines user’s and robot’s commands into a continuous functionthat approximates a classic Navigation Function (NF) by weighting inputcommands with NF constraints. Our approach overcomes the main drawbacksof NFs -calculus complexity and limitations on environmentmodeling- so it can be used in dynamic unstructured environments. It alsobenefits from NF properties: convergence to destination, smooth pathsand safe navigation. Due to the user’s contribution to control, our functionis not strictly a NF, so we call it a pseudo-navigation function (PNF)instead.
YR 2015
FD 2015-07-07
LK http://hdl.handle.net/10630/10047
UL http://hdl.handle.net/10630/10047
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026