אסיף מאגר המחקר החקלאי

Algorithms for dynamic switching of collaborative human-robot system in target recognition tasks

Year:

2009

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Authors :

Volume :

13

Co-Authors:

Tkach, I., Dept. of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Edan, Y., Dept. of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Bechar, A., Inst. of Agricultural Engineering, Volcani Center, A.R.O. Bet-Dagan, Israel

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Abstract:

This paper presents a set of algorithms developed for real-time dynamic switching between collaboration levels in a human-robot target recognition system. The algorithms were developed for a closed-loop controller to maximize system performance despite deviations in the parameter values and were evaluated by conducting a thorough simulation analysis. These developments enable smooth realtime adaptation of the combined human-robot system to many possible changes of the environment, human operator and robot performance. System performance was analyzed in simulations for a variety of target probabilities distributions. Improvements that can be achieved by each algorithm were calculated as a mean value for 200 independent simulations for each target probability distribution. The numerical analysis results indicated that the developed algorithms for dynamic switching achieved improved system performance. © 2009 IFAC.

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