摘要
人机共融是新一代机器人的重要特征。针对跟随型移动机器人在人机共融环境中的跟随与避障控制问题,提出一种基于拓展社会力模型的柔顺跟随与避障控制策略。基于阻抗控制设计可同时控制人机交互力和位置偏差的跟随控制器,实现了移动机器人的柔顺跟随。考虑“人-机器人-障碍物”三者的交互作用,基于拓展社会力模型和空间关系学设计人机友好的柔顺跟随避障控制策略,有效解决跟随机器人的避障问题,同时保障了人的舒适性,提升了跟随机器人的社会接纳度。仿真结果表明:该策略可以实现人机友好的柔顺跟随避障控制。
Human-robot coexisting is an essential feature of the next generation mobile robot.A compliant robot control strategy based on the extended social-force model for human-following and obstacle avoidance in coexisting-cooperative-cognitive environment is presented.The human-following controller based on impedance control can simultaneously adjust human-robot interaction force and position deviation to carry out the compliant human-following of mobile robots.Considering humanrobot-obstacle interactions,based on the extended social-force model and proxemics,a control strategy for human-friendly compliant human-following and obstacle avoidance is designed to solve the obstacle avoidance problem of robot and ensure the human comfort and improving the social acceptance of robot simultaneously.Simulation results show that the proposed control strategy can realize human-friendly compliant human-following and obstacle avoidance.
作者
彭建伟
廖哲霖
姚瀚晨
万郅玙
朱利琦
戴厚德
Peng Jianwei;Liao Zhein;Yao Hanchen;Wan Zhiyu;Zhu Liqi;Dai Houde(Fujian Institute of Research on the Structure,Chinese Academy of Sciences,Fuzhou 350002,China;University of Chinese Academy of Sciences,Beijing 100049,China;Fujian Agriculture and Forestry University,Fuzhou 350002,China;School of Advanced Manufacturing,Fuzhou University,Jinjiang 362200,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2023年第8期1776-1787,共12页
Journal of System Simulation
基金
中央引导地方科技发展专项资金(2020L3028,2021L3047)
中国科学院对外合作重点项目(121835KYSB20190069)。
关键词
人机共融
人机跟随
柔顺控制
阻抗控制
拓展社会力模型
空间关系学
避障
coexisting-cooperative-cognitive
human-following robots
compliant control
impedance control
extended social-force model
proxemics
obstacle avoidance
