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Levels of Autonomy Control

Technology Category: Robotic Technology

Description: This project is examining the notion of “Levels of Autonomy” to allow shared control between the human and robot at a level appropriate for the given task. The distribution of control between operator and robot can be varied in discrete steps from teleoperation to autonomous.

The levels of autonomy research has created four levels of autonomy which were implemented in simulation. The levels are:

1. Mapping Autonomy/Teleoperation: The operator has complete control over the robot. However, the robot passively creates a map of the area from sensor data.
   
   
2. Supportive Autonomy: The operator still has complete control over the robot and the robot still passively creates a map from sensor data. However, now the exploration planner presents a suggested destination and route to the operator. The operator can choose to follow this path or ignore it.
   
   
3. Waypoint Autonomy: The operator can still drive the robot directly or it can indicate a series of waypoints for the robot to drive to. The robot will plan the best path to each waypoint and drive the robot there. The robot still maps and provides suggestions.
   
   
4. Full Autonomy: The robot is fully autonomous and makes all decisions on where to go.

Point of Contact: Stewart Moorehead (509) 372-4721