This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Negotiating the Steering Control Authority within Haptic Shared Control Framework
ISSN: 0148-7191, e-ISSN: 2688-3627
To be published on April 14, 2020 by SAE International in United States
Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve a continuous negotiation of intentions and roles. This project aims to explore the underlying process of intention integration and develop models for consensus reaching in a haptic shared control framework. We pay particular attention to the role of impedance modulation as a mechanism for negotiation of intentions across the physical or haptic channel. We present an optimal control-based methodology for an automation system to modulate its impedance to either gain or yield the authority to the human driver.