SLQR Suboptimal Human-Robot Collaborative Guidance and Navigation for Autonomous Underwater Vehicles

被引：0

作者：

Spencer, David A. ^{[1
]}

Wang, Yue ^{[1
]}

机构：

[1] Clemson Univ, Dept Mech Engn, Clemson, SC 29634 USA

来源：

2015 AMERICAN CONTROL CONFERENCE (ACC) | 2015年

关键词：

Human-Robot Collaboration; Cooperative control; Optimal control; Switched systems; OPTIMIZATION; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel approach to the humanrobot collaborative guidance and navigation of autonomous vehicles is proposed. The switched linear quadratic regulator (SLQR) is utilized as a method of determining when control of the autonomous vehicle should be switched from autonomous control to manual teleoperation or vice versa. This switching is determined by a quadratic cost function that takes into account both robot performance and human workload. A linearized model of an autonomous underwater vehicle (AUV) is derived and used for the purpose of simulations of the proposed controller. The performance of the proposed controller is also compared to that of a fully autonomous and fully manual control.

引用

页码：2131 / 2136

页数：6

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