Learning by Demonstration for Co-Operative Navigation with Assistive Mobility Devices

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Conference Proceeding
Website Proceedings of the Australasian Conference on Robotics and Automation 2015, 2015, pp. ? - ? (7)
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This work proposes a learning by demonstration framework for intuitive navigational adaptation of human-robot interactive mobile systems. Co-navigation algorithms for mobile robots tend to be highly parameterised with variables that may be difficult to manually configure to an individual user's desired behaviours by non-technical personnel, e.g. carers and therapists overseing activities with would-be intelligent power mobility devices. The proposed framework automatically learns suitable joystick inputs for safe handling of the platform from a healthy user aware of a desired subset of behaviours (generic collision avoidance, wall-following and forward/reverse alignment manoeuvres) through performance of a small set of elementary training exercises, without the need and risk associated to trial-and-error variable tuning. The paper compares the semi-autonomous capability of the proposed learning scheme with the popular Vector Field Histogram local planner in a corridor navigation task, showing its ability to safely generalise to different environments despite the simplicity of the training demonstrations.
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