基于行为优先与任务协调的多移动机器人遥操作

Behavior Priority and Mission Coordination Based Multiple Mobile-Robot Teleoperation

针对单个操作者对多个移动机器人遥操作的困难,提出了基于行为优先和任务协调的多机器人遥操作方法.通过引入机器人局部自主的概念,运用行为优先决策与任务协调模块使操作者和机器人共享运动控制.建立了多机器人系统遥操作体系结构,设计了多通道人机交互接口界面.室外实验表明,提出的方法可以实现人和机器智能的合理分配.运用该方法,单个操作者可完成对多个移动机器人的遥操作.

Aimed at the difficulty of teleoperation for multiple mobile robots by a single operator, a multi-robot teleoperation approach based on the behavior priority and mission coordination is presented. The mission coordination module is used to share motion control between the operator and robots, employing mission priority decision mechanism and local autonomy ability of robots. The architecture of the teleoperation for intelligent multi-mobile robots system is created and the multichannel human-robot interactive interface is designed. Outdoor experiments showed that the proposed method is effective for the stated problem.