一种基于用户意图建模的Internet移动机器人控制方法

New Approach to Networked Mobile Robot Based on User Intention Modeling

Internet上数据传输存在的不确定性时延,使得遥操作的网络机器人无法及时完成远程操作者期望的动作．提出一种新的方法,即对用户意图进行建模,通过移动机器人的自主性来补偿不确定时延对系统性能造成的影响．在对用户操作机器人的意图建立模型后,利用贝叶斯技术对用户意图进行渐进推断,从而使得机器人能够识别用户赋予的任务,并自主地执行该任务,而无需与用户频繁交互．这大大减少了数据传输、提高了整个控制系统的效率．实验结果证明了所提方法的有效性和可行性．

Due to uncertain time delay of data transmission over Internet, teleoperated Internet robots cannot accomplish the desired actions oi＂ the remote operator in time. This paper investigates a novel approach, user intention modeling, to compensate the uncertainty with the robot autonomy. The user intention to control and operate the networked robot is modeled and incrementally inferred based on Bayesian techniques. Consequently, the robot can autonomously execute the task without decreases data transmission over Internet and frequent interactions with the user, and this improves the efficiency of the whole system to a great extent. Experimental results demonstrate the validity and feasibility of the proposed method.