A Human-Robot Collaborative Path Planning Method for Mobile Robots in Unstructured Environments

Abstract

The present invention provides a human-machine collaborative path planning method in an unstructured environment for a mobile robot, which includes the following steps: S1, an operator-guided path planner; S2, a robot autonomous path planner; S3, the obtained result of step S1 The path planned by the operator and the path independently planned by the robot obtained in step S2 are mixed and filtered, and the path modified by the operator is combined with the path independently planned by the robot; S4, tactile feedback: the position deviation between the planned path and the actual path traveled by the robot Deviation from speed is fed back to the operator's handle in the form of force / tactile sensation. The method of the present invention combines force / tactile-based telemanipulation technology with autonomous planning technology, which not only overcomes the shortcoming that the mobile robot cannot autonomously complete field complex environment planning, but also reduces the operator's manipulation burden and improves work efficiency.

Description

technical field [0001] The invention relates to the technical field of path planning and remote manipulation, in particular to a human-machine cooperative path planning method in an unstructured environment of a mobile robot. Background technique [0002] Although the intelligence level of mobile robot systems has made great progress, due to the limitations of their cognitive capabilities, autonomous planning problems in unstructured and other challenging environments cannot be completely handed over to robot systems. For example, for search and rescue work in unstructured environments such as after disasters, on the one hand, the disaster environment is too dangerous or humans cannot enter at all, and the scene is too complicated for autonomous robots to work autonomously. important. On the other hand, driving a robot in a disaster scene is a highly stressful and difficult job for the operator. A large part of the operator's work is just low-level tasks such as manipulatin...

AI Technical Summary

Problems solved by technology

[0002] Although the intelligence level of the mobile robot system has made great progress, due to the limitations of its cognitive ability, the autonomous planning problem in unstructured and other challenging environments cannot be completely handed over to the robot system.

For example, for search and rescue work in unstructured environments such as after disasters, on the one hand, the disaster environment is too dangerous or humans cannot enter at all, and the scene is too complex for autonomous robots to work autonomously. important

On the other hand, driving a robot in a disaster scene is a highly stressful and difficult job for the operator. A large part of the operator's work is just low-level tasks such as manipulating the robot and avoiding obstacles, while covering the search area and successfully finding Decreased performance in victims, etc.

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