Title :
Identification of human skill and its application to an automatic driving system - an approach from hybrid dynamical system
Author :
Ma, Shangchang ; Zanma, Tadanao ; Ishida, Muneaki
Author_Institution :
Control Syst. Lab., Mie Univ., Tsu
Abstract :
In this paper, we propose an approach to model human skill, which can be useful in systems of machine intelligence and human operator assistance. The approach is to consider the model of human manipulation skill as a hybrid dynamical system (HDS), where, each continuous submodel deals with its related manipulation mode, while a discrete event model represents the switches between all the submodels. In particular, we express the HDS model as a hinging hyperplane autoregressive exogenous (HHARX) model as it is able to deal with manipulation modes and their switches simultaneously. Based on experimental data manipulated by an expert human operator, HHARX parameters are identified via mixed-integer linear programming (MILP). As a typical example, we apply our approach to an automatic driving system of a small radio-controlled vehicle. Both simulation and experimental results illustrate the effectiveness of the proposed method
Keywords :
automated highways; autoregressive processes; integer programming; linear programming; road safety; automatic driving system; discrete event model; hinging hyperplane autoregressive exogenous model; human manipulation skill; human operator assistance; hybrid dynamical system; mixed-integer linear programming; small radio-controlled vehicle; Automatic control; Electrical equipment industry; Humans; Linear programming; Motion control; Radio control; Robotics and automation; Switches; System identification; Vehicle driving;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347829