Shared control framework applied to a robotic aid for the blind

Demonstrates how the shared discrete event control system is applied to the Robotic Cane, a system which aids the visually impaired navigate through obstacle rich environments. It is also shown how the control framework operates to avoid obstacles with or without human interaction. During experiments the cane effectively helped the user to maneuver through an indoor environment. With a little practice the user could follow the direction in which the cane steered. This shows that the control mapping was defined effectively. The only command that was not very intuitive was the left and brake command used during a weak conflict. However, a different kinematic solution of the cane could achieve the turning and braking as desired. In times of strong conflict between the user input and the autonomous control command the human remained in control. The audio warning during these conflicts was effective in alerting the user