Shared control of robot based on Fuzzy Discrete Event System

This paper proposes a new shared control mode based on the supervisory theory of Fuzzy Discrete Event System (FDES). The developed supervisory mode is used for the transition between direct control mode and automatic control mode to reduce misoperation and improve the robustness of the system. Finally, ten subjects participate in the robot simulation experiment, the data recorded which include collision times and completion time verify the effectiveness of the method, average completion time which decline 32.3% and 13.9% than other two methods in complex map.