Reinforcement Learning Aided Robot-Assisted Navigation: A Utility and RRT Two-Stage Approach
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Reinforcement Learning Aided Robot-Assisted Navigation: A Utility and RRT Two-Stage Approach Luís Garrote1
· João Paulo1
· Urbano J. Nunes1
Accepted: 29 August 2019 © Springer Nature B.V. 2019
Abstract This work proposes a robot-assisted navigation approach based on user intent adjustment, in the context of robotic walkers. Walkers are prescribed to users with gait disorders so that they can support their body weight on the upper limbs, however, the manipulation of such devices can be cumbersome for some users. Common problems for the users are lack of dexterous upper limb control and visual impairments. These problems can render walkers’ users helpless, making them unable to operate these devices effectively and efficiently. We present a new approach to robot-assisted navigation using a utility decision and safety analysis procedure with user intent adjustments learned by reinforcement learning (RL) and supported on a rapidly-exploring random tree inspired algorithm. The proposed approach offers full control of the assistive platform to the user until obstacles are detected. In dangerous scenarios, corrections are computed in order that the assistive platform avoids collisions and follows social norms, effectively guiding the user through the environment while enforcing safer routes. The experimental validation was carried out in a virtual environment and in a real world scenario using a robotic walker built in our lab (ISR-AIWALKER). Experimental results have shown that the proposed approach provides a reliable solution to the robot-assisted navigation of a robotic walker, in particular the use of utility theory to evaluate candidate motions together with a RL model increases the safety of the user’s navigation. Keywords Assistive robotics · Reinforcement learning · Robot-assisted navigation · Robotic walker · Rapidly-exploring random tree · Robot operating system
1 Introduction The use of assistive platforms such as robotic walkers and wheelchairs has increased in the last years. The increase tendency is directly influenced by demographic statistics which show an accelerated ageing tendency, resulting in increasingly older societies [19]. Adding to this tendency, with the progress of age, several health complications arise. Mobility decay is for instance, one of the most recurrent disorders, mainly due to muscular, neurological, and osteoarticular
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Luís Garrote [email protected] João Paulo [email protected] Urbano J. Nunes [email protected]
1
Department of Electrical and Computer Engineering, Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal
decay. New technological approaches that focus on helping sufferers of such disorders have been emerging. Such is the case of Assistive Robotics which aims to provide the means to offer greater degrees of independence and less need for dedicated caregivers. A mobility assistance widely used to provide body weight support while walking is the walker. This type of platform provides a reliable solution in assistive and rehabilitative contexts.
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