用于多机器人的BML人机交互框架设计与实现

Design and Implementation of Human-robot Interaction Framework Based on BML for Multiple Robots

指挥与控制多机器人系统是一项富有挑战性的任务,面对不同特性的机器人,静态的控制命令很难完全满足控制要求.随着机器人数量的增多,机器人的动作级命令也难以同时满足指挥多机器人系统的需求.本文使用受限的自然语言来控制多机器人系统,提出了一种基于Battle Management Language(BML)的框架来指挥多机器人系统.基于该框架,可以动态地添加机器人的能力与名字到词典中,再根据词典将受控的自然语言转化为标准的BML命令来控制多机器人系统.通过这种方式,可以让机器人执行动作级的命令,例如移动、转向等;也能让机器人执行任务级的命令,例如围捕、防守等.实验结果表明,使用本文提出的交互框架,可以指挥不同类型的机器人组成的系统.

Commanding and controlling a multi-robot system is a challenging task.Static control commands are difficult to fully meet the requirements of controlling different robots.As the number of robots increases,it is difficult for the robot’s motion-level commands to simultaneously satisfy the demands of commanding multi-robot system.This paper uses a limited natural language to control multirobot systems,and proposes a framework based on Battle Management Language(BML)to command multi-robot systems.Based on the framework,the capabilities and names of the robot can be dynamically added to the dictionary,and the limited natural language can be converted into a standard BML command according to the dictionary to control the multi-robot system.In this way,the robot can execute motion-level commands,such as movement,steering,etc.,and can also perform task-level commands,such as enclosing,defense,etc.The experimental results show that the system composed of different types of robots can be commanded by using the interactive framework proposed in this paper.