基于手眼双模态人机接口的移动机器人编队共享控制

doi:10.13973/j.cnki.robot.210274

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秦留界, 宋光明, 毛巨正, 刘盛松, 曾洪, 宋爱国. 基于手眼双模态人机接口的移动机器人编队共享控制[J]. 机器人, 2022, 44(3): 343-351,360.DOI: 10.13973/j.cnki.robot.210274. QIN Liujie, SONG Guangming, MAO Juzheng, LIU Shengsong, ZENG Hong, SONG Aiguo. Shared Control of Multi-Robot Formations Based on the Eye-Hand Dual-modal Human-Robot Interface. ROBOT, 2022, 44(3): 343-351,360. DOI: 10.13973/j.cnki.robot.210274.

摘要传统的基于手控器单模态人机接口的移动机器人编队控制系统在进行队形变换和局部避障等复杂运动控制时效果较差。本文针对此问题提出了一种基于力反馈手控器和眼动仪双模态人机接口的编队共享控制方法。首先，将操作员的手部输入信号和视线跟踪信号分别映射为编队行进和队形切换命令。然后，设计一个由主端遥操作控制器和从端自主控制器组成的共享控制框架。主端遥操作控制器负责接收分发操作员的控制命令并接管编队行进运动控制和队形切换控制，从端自主控制器负责根据系统状态自主完成队形保持、外部避障和内部避碰等任务。最后，通过避障实验、队形切换实验和单双模态对比实验来证明该控制方法的有效性。实验结果表明，相对于传统的单模态双边遥操作控制，本文提出的控制方法降低了操作负荷，控制效率提升了17.42%。

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关键词 ：机器人编队, 共享控制, 虚拟结构, 视线跟踪, 遥操作

Abstract：The traditional multi-robot formation control system based on the single-modal human-robot interface with the haptic device has poor performance in complex motion control such as formation switching and partial obstacle avoidance. So a shared control method based on the dual-modal human-robot interface with the force feedback haptic device and the eye tracker is proposed. Firstly, the operator's hand input and the eye tracking signals are mapped to formation movement and formation switching commands respectively. Secondly, a shared control framework composed of the master teleoperation controller and the slave autonomous controller is designed. The master teleoperation controller is used to receive and issue operator's control commands and controls the formation movement and the formation switching, while the slave autonomous controller autonomously complete formation keeping, external obstacle avoidance and internal collision avoidance tasks according to the system status. Finally, the obstacle avoidance experiments, the formation switching experiments and the comparison experiments are designed to prove the feasibility of the control method. The experimental results show that compared with the traditional single-modal bilateral teleoperation control, the proposed method reduces the operating load, and increases the control efficiency by 17.42%.

Key words： multi-robot formation shared control virtual structure gaze tracking teleoperation

收稿日期: 2021-06-21 录用日期: 2022-01-04

TP242

基金资助:国家自然科学基金(61973076);国家重点研发计划(2020YFC1511904)

通讯作者: 宋光明,mikesong@seu.edu.cn E-mail: mikesong@seu.edu.cn

作者简介: 秦留界（1996–），男，硕士生。研究领域：多机器人编队控制。
宋光明（1974–），男，博士，教授。研究领域：分布式机器人，仿生机器人，基础设施巡检运维机器人。

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.210274 或 https://robot.sia.cn/CN/Y2022/V44/I3/343

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