Human-robot formation control method applicable to human-aimed navigation system

Abstract

The invention discloses a human-robot formation control method applicable to a human-aimed navigation system. The navigation system comprises a mobile robot and a portable wearable device based on vibro tactile feedback. A laser radar scans a surrounding environment, the distance information with a surrounding object is transmitted to an upper computer, and the upper computer processes the distance information to obtain a two-dimensional environment map; according to the map information, the upper computer uses software to carry out optimal path planning in real time, and a planning speed is generated; an RGB-D camera collects the skeleton information of a user at a certain sampling frequency and transmits the information to the upper computer, and after processing, the upper computer obtains the position and speed information of the user; a human-robot formation control algorithm takes the user as a dominant factor, the speed of the user and the planning speed are integrated, and theactual control speed of the robot is generated; and according to the position information of the user, the upper computer instructs the user to adjust the self position through a vibration device anda voice prompting device, a certain relative distance and a relative angle are kept between the robot and the user, and the function of human-aimed navigation is realized.

Description

technical field [0001] The invention relates to the technical field of blind guidance and navigation aid equipment control, in particular to a man-machine formation control method applied to a man-made navigation system. Background technique [0002] With the development of mobile robot technology, robots have more and more functions and more and more applications, making people's lives more convenient and intelligent. In terms of navigation for the visually impaired, mobile robots are used to guide the visually impaired to target locations in indoor environments such as shopping malls, libraries, and museums. Currently developed human navigation systems based on mobile robots usually install elastic nylon ropes or lightweight rigid telescopic long handles on mobile robots. Users can obtain left turn, right turn and acceleration by sensing the feedback force on the nylon rope or long handle. Forward and other navigation information. The use of these human navigation system...

AI Technical Summary

Problems solved by technology

The use of these human navigation systems can easily cause the user to get too close to the robot, and may also be too far to the right or to the left of the robot. There is no fixed human-machine formation between the user and the mobile robot, and the navigation performance is not good; the user can only passively To follow the mobile robot accurately, it must adjust its own speed according to the speed of the robot, which reduces the user-friendly interaction of the system

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