A Heuristic Motion Planning Method based on Human Intention for Teleoperation Systems

Abstract

In this paper, a human-machine collaborative motion planning method is put forward to deal with the matter that there is a strong dependence on the operator and the operation load brought by it in the course of task execution. In this paper, the human intention obtained by the hidden markov model and the communication delay in the teleoperation system constitute the target point of the heuristic motion planning. Then a heuristic method for vehicle motion planning in intricate environment based on the target point is presented, so that the vehicle can also move successfully after the change of human intention is monitored. The heuristic motion planning method based on human intention framework is confirmed in the numerical experiment, then its outstanding performance in the intricate environment is evaluated, and the feasibility of the proposed method has been verified.