一种面向狭小、拥挤情景的服务机器人运动规划方法

doi:10.13973/j.cnki.robot.200242

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引用本文:
张森, 周磊, 刘梦, 胡郑希, 赵英利, 刘景泰. 一种面向狭小、拥挤情景的服务机器人运动规划方法[J]. 机器人, 2021, 43(3): 269-278.DOI: 10.13973/j.cnki.robot.200242. ZHANG Sen, ZHOU Lei, LIU Meng, HU Zhengxi, ZHAO Yingli, LIU Jingtai. A Motion Planning Scheme of Service Robots for Cramped and Crowded Situations. ROBOT, 2021, 43(3): 269-278. DOI: 10.13973/j.cnki.robot.200242.

摘要针对多维度服务情景中狭小、拥挤的一类情景，设计了一种能够兼顾移动机器人的移动效率和机器人在移动过程中对周围人的舒适感受所造成的影响的运动规划方法．该方法通过紧张空间来刻画人的舒适需求，然后通过人的紧张空间在机器人运动的影响下所产生的形变程度对机器人的运动与人的舒适感受之间的关系进行建模，进而以机器人的移动效率和人的舒适感受为优化目标实现运动规划．最后，通过仿真研究验证了本文方法的有效性，进而通过狭小、拥挤服务情景的研究体现了基于多维度服务情景的服务机器人研究框架的适用性．

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关键词 ：共融机器人, 服务机器人, 运动规划, 人的舒适需求建模, 狭小、拥挤情景

Abstract：For a kind of multi-dimensional service situations, namely cramped and narrowed situations, a motion planning scheme is designed to balance the relation between the mobility efficiency of a mobile robot and its impact on human’s comfort feelings while the robot moving around people. This method describes human’s comfort needs with tension space and uses the deformation degree of human’s tension space under the influence of robot movement to model the relation between robot movement and human’s comfort feelings. Then the motion planning is optimized with robot movement efficiency and human’s comfort feelings. Finally, the effectiveness of the designed method is verified with simulations and the applicability of the research framework for service robots based on multi-dimensional service situations is further embodied with the research of cramped and crowded service situations.

Key words： tri-co (coexisting-cooperative-cognitive) robot service robot motion planning modeling of human’s comfort need cramped and crowded situation

收稿日期: 2020-06-29 【基金专刊】 录用日期: 2020-11-10

TP242

基金资助:国家自然科学基金（91848108）．

通讯作者: 刘景泰，liujt@nankai.edu.cn E-mail: liujt@nankai.edu.cn

作者简介: 张森（1989–），男，博士，讲师．研究领域：机器人技术，自主移动机器人，室内服务机器人
周磊（1995–），男，博士生．研究领域：自主移动机器人，室内服务机器人
刘梦（1994–），女，硕士生．研究领域：自主移动机器人，室内服务机器人．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.200242 或 https://robot.sia.cn/CN/Y2021/V43/I3/269

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