面向为盲人导航的人机队形控制方法研究

Research on human-robot formation control strategy for guiding blind people

在为盲人导航的移动机器人系统中,设计可靠的人机队形控制方法对提高导航的有效性和成功率具有重要意义。针对目前传统为盲人导航系统中,机器人与使用者之间没有固定队形以及使用者只能被动跟随等缺陷,提出了一种基于多机器人领域领导者-跟随者控制模型的人机队形控制方法。与传统的领导者-跟随者控制模型不同,该方法以使用者为主导,使用者可以自由选择行走速度。根据使用者的线速度调节机器人的线速度和角速度,根据使用者与机器人之间的相对位置提示使用者调整前进方向,从而使得使用者与机器人之间的相对距离和相对方位角收敛到给定值。实验结果表明,测试者平均队形偏差的均值小于0.2 m,能够满足实际使用需求。

In mobile robot systems for guiding blind people,the design of a reliable human-robot formation control strategy is important to improve the effectiveness and success rate of the navigation. In traditional navigation systems,there are no fixed formations between robots and users,and users have to follow the robots passively. Hence,a leader-follower control model based human-robot formation control strategy is proposed. Different from the traditional leader-follower control model,the proposed strategy is human-centered and the user can freely select his/her walking speed. In order to maintain the distance and relative bearing between the robot and the user,the linear and angular velocity of the robot is regulated based on user＇s linear velocity,and the user is prompted to adjust his/her orientation based on his/her relative position to the robot. The experimental results demonstrate that the mean of the formation errors is smaller than0. 2 m which meets the actual requirements.