A Shared Control Method for EEG Mobile Robots in Unknown Environment

A mobile robot and shared control technology, applied in the field of robotics, can solve the problems that the shared method is not stable enough, the practicability is not high, and the forward trajectory is easy to shake, so as to improve the control efficiency and human-computer interaction ability, and improve the efficiency of obstacle avoidance.

Active Publication Date: 2022-04-15
SOUTHEAST UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

This sharing method is more complex and susceptible to EEG signal instability
Others use EEG signals to control the direction of the linear velocity of the robot, and the linear velocity of the robot is set to a fixed value or controlled independently. This sharing method is not stable enough, and the forward trajectory is easy to shake, which is not very practical.

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  • A Shared Control Method for EEG Mobile Robots in Unknown Environment
  • A Shared Control Method for EEG Mobile Robots in Unknown Environment
  • A Shared Control Method for EEG Mobile Robots in Unknown Environment

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Embodiment Construction

[0054] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0055] This embodiment provides a shared control method for an EEG mobile robot in an unknown environment, which includes the following steps: (1) collecting the user's motor imagery EEG signal and performing preprocessing and feature extraction; The electrical signals are linearly summed with adaptive weights to obtain the EEG-speed control signal; (3) the mobile robot obtains the autonomous obstacle avoidance-speed control signal according to the autonomous path planning; (4) the mobile robot is controlled by the EEG-speed Shared control of signals and autonomous obstacle avoidance-speed control signals for driving in unknown environments.

[0056] 1. Collect the mo...

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Abstract

The invention discloses a shared control method of an EEG mobile robot in an unknown environment. The shared control method: firstly collect the EEG signals of the user's motor imagination, perform preprocessing and feature extraction, and automatically carry out the EEG signals on the left and right sides. Adapt to the linear summation of the weights to obtain the EEG-speed control signal; the mobile robot obtains the autonomous obstacle avoidance-speed control signal according to the autonomous path planning; the mobile robot receives the EEG-speed control signal and the autonomous obstacle avoidance-speed control signal Share control and drive in unknown environments. Compared with the existing invention, the present invention can control the linear velocity of the mobile robot with the EEG-speed control signal, control the direction of the linear velocity of the mobile robot with the autonomous obstacle avoidance-speed control signal, and make the driving process more stable through continuous shared control .

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a shared control method of an EEG mobile robot in an unknown environment. Background technique [0002] Brain-Computer Interface (BCI) technology is a technology that can use brain physiological signals to output control signals to external devices without going through the nerve-muscle pathway. Brain-computer interface technology analyzes the collected EEG signals to obtain EEG control signals, thereby establishing a new control method between the brain and the mobile robot. [0003] According to the mobile robot's cognition of the working environment, the control tasks of mobile robots can be divided into control tasks of known environment and control tasks of unknown environment. The control task of the known environment refers to controlling the robot to complete tasks such as obstacle avoidance and path planning when the environmental map or the position of obsta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0223G05D1/0221G05D1/0276
Inventor 徐宝国刘德平王勇张坤宋爱国赵国普
Owner SOUTHEAST UNIV
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