基于振动触觉的移动机器人为人导航系统

Mobile robotic navigation system for human based on vibro-tactile perception

为了给视觉障碍者或助航需求者自主行走提供帮助、减轻其心理负担,设计了一种基于振动触觉的移动机器人为人导航系统.该系统通过移动机器人搭载Kinect体感设备为使用者提供其姿态信息,再结合振动触觉腕带装置的反馈实现机器人为人导航的功能,即引导使用者在预先规划好的路径上行走.整个为人导航过程中使用者和机器人之间的相对距离和相对角度收敛到给定值,最终确保在机器人的引导下按照给定路径使得使用者安全准确到达目的地.基于领导者跟随者控制模型,提出了适合本系统的人机协作控制算法,进行了振动触觉识别率实验,完成了本系统在平坦地面轨迹跟踪实验和对起伏地面的适应能力测试,验证了算法的正确性与可行性.最后,对本系统抗干扰能力进行实验分析,以验证系统的鲁棒性.

To help the visually impaired people or those who need navaid walk independently and alleviate the psychological burden,a mobile robotic navigation system for human based on vibro-tactile perception was designed. The system can provided the navigation function for human by combining the user＇s posture information given by the Kinect sensor mounted on the mobile robot and the feedback of the vibro-tactile bracelet device,guiding the user to a planned path. In the navigation process,the relative distance and the relative angle between the user and the robot converge to a given value,ensuring that the user reaches the destination safely and accurately under the guidance of the robot. Based on the leader-follower control model,a cooperative human-robot control algorithm is proposed. The vibration tactile recognition rate experiment is carried out,and the trajectory tracking experiment on the flat ground and the adaptive capacity test on the undulating terrain are completed,which verify the correctness and feasibility of the algorithm. Finally,the anti-interference ability of the system is analyzed by experiments in order to verify the robustness of the system.