基于改进弹簧模型的移动机器人柔顺跟随行人方法

doi:10.13973/j.cnki.robot.200310

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姚瀚晨, 彭建伟, 戴厚德, 林名强. 基于改进弹簧模型的移动机器人柔顺跟随行人方法[J]. 机器人, 2021, 43(6): 684-693.DOI: 10.13973/j.cnki.robot.200310. YAO Hanchen, PENG Jianwei, DAI Houde, LIN Mingqiang. A Compliant Human Following Method for Mobile Robot Based on an Improved Spring Model. ROBOT, 2021, 43(6): 684-693. DOI: 10.13973/j.cnki.robot.200310.

摘要针对人机共融环境下的跟随型自动搬运机器人，为了解决被跟随目标突发性运动造成机器人失灵的难题，提出了一种基于改进弹簧模型的移动机器人柔顺跟随方法．给被跟随目标的腿部和障碍物添加虚拟弹簧，完成了对机器人和被跟随目标之间相对位姿的闭环控制，从而实现躲避障碍物和自然交互任务．特别地，通过给虚拟弹簧添加动态阻尼系数，实现了移动机器人跟随目标运动的实时性和柔顺性．通过Simulink仿真对比移动机器人对被跟随目标的柔顺跟随轨迹，实现对改进弹簧模型的参数优化．采用自主开发的两轮差速移动机器人和Vicon光学运动捕捉系统，在被跟随目标做无规律、长距离运动的条件下，验证了该移动机器人跟随轨迹的平滑性和柔顺性．

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	姚瀚晨
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	林名强

关键词 ：人机共融, 人机交互, 行人跟随, 虚拟弹簧, 柔顺控制

Abstract：For the automated guided vehicle with human-following function in human-machine integration environment,a compliant following method of mobile robot based on an improved spring model is proposed to solve the problem of robotmalfunction caused by abrupt movements of the followed target. The closed-loop control of the relative posture between themobile robot and the followed target is performed by adding virtual springs to the legs of the followed target and obstaclesto accomplish obstacle avoidance and natural interaction tasks. In particular, dynamic damping coefficients are added tothe virtual spring to make the mobile robot follow the human target compliantly in real time. In Simulink simulation, thecompliant following trajectory of the mobile robot is compared with the dynamic motion of the target, and thus the optimalparameters of the spring model are obtained. A self-developed two-wheeled differential mobile robot and an optical motioncapture system are utilized to verify the smoothness and flexibility of the mobile robot trajectory when the followed humantarget performs irregular and long-distance motion.

Key words： human-machine integration human-machine interaction human following virtual spring compliant control

收稿日期: 2020-08-14 录用日期: 2020-11-02

TP242

基金资助:中国科学院国际伙伴计划对外合作重点项目（121835KYSB20190069）

通讯作者: 戴厚德,dhd@fjirsm.ac.cn E-mail: dhd@fjirsm.ac.cn

作者简介: 姚瀚晨(1996-),男,硕士生.研究领域:移动机器人.
彭建伟(1997-),男,硕士生.研究领域:移动机器人.
戴厚德(1982-),男,博士,研究员.研究领域:多模态传感器信息融合,移动机器人定位导航.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.200310 或 https://robot.sia.cn/CN/Y2021/V43/I6/684

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