Semi-autonomous steering promises to combine the best of human perception, planning, and manual control with the precision of automatic control. This paper presents an adaptive haptic shared control scheme using Markov Decision Process (MDP) to keep human drivers in the loop yet free attention and avoid automation pitfalls. Using MDP, algorithms are developed to support the negotiation of authority between the human driver and automation system.
- Dynamic Systems and Control Division
Adaptive Haptic Shared Control Framework Using Markov Decision Processing
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Ghasemi, AH, & Rastgoftar, H. "Adaptive Haptic Shared Control Framework Using Markov Decision Processing." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T32A003. ASME. https://doi.org/10.1115/DSCC2018-9009
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