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Decision modeling and cooperative control method and system for multi-robot system based on human-in-the-loop

A multi-robot, collaborative control technology, applied in the direction of vehicle position/route/height control, non-electric variable control, control/regulation system, etc., can solve the problem of lack of accurate human model, so as to improve decision-making accuracy and decision-making speed effect

Active Publication Date: 2020-08-28
FUZHOU UNIV
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Problems solved by technology

At present, human-multi-robot interaction has been successful in application areas such as leader-follower-based formation control methods and human-computer interaction control frameworks, but they lack accurate human models.

Method used

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  • Decision modeling and cooperative control method and system for multi-robot system based on human-in-the-loop

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0038] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention relates to a decision modeling and cooperative control method and system for a multi-robot system based on a human-in-loop, and the method comprises the steps: obtaining an output information value after a robot carries out a task, and selecting robot position deviation information as the decision information of a person; using the drift diffusion model of the person as a modeling method, and modeling the decision behavior of the person according to the decision information of the person; and designing a man-made decision task, and when the robot cannot depend on an autonomous control system to complete the task, executing the man-made decision task to help the robot smoothly complete the task. The drifting diffusion model is combined with the behavior control method based onthe null space, the drifting diffusion model of the person is provided, the corresponding decision threshold formula is obtained through the speed-accuracy criterion, and the decision accuracy of theperson can be improved through adoption of the method.

Description

technical field [0001] The invention relates to the technical field of robot application, in particular to a decision modeling and collaborative control method and system for a human-in-the-loop multi-robot system. Background technique [0002] In the past decade, multi-robot systems have attracted much attention due to their loosely coupled network structure, where robots can interact to solve problems that cannot be solved by a single robot. In a multi-robot system, robot formation is one of the control methods for robots to perform tasks cooperatively. Behavior control, as one of the formation control technologies, can realize distributed control of multi-robot systems and has the advantages of flexible obstacle avoidance. However, traditional behavior control methods cannot guarantee the stability of formation control. Therefore, a behavior control method based on zero space is adopted. , the mathematical model of this method can achieve formation stability, but due to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 黄捷吴文华王武齐义文柴琴琴林琼斌李卓敏
Owner FUZHOU UNIV
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