S. Mclachlan, J. Arblaster, O.K. Liu, J. V. Miró, L. Chenoweth
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引用次数: 46
摘要
本文提出了一种多阶段共享控制方法(MSSC),用于控制机器人移动助手的运动,以方便步态不稳定的人安全移动。多级控制模块由用户意图、避障和模糊逻辑组成。用户意图表示人的命令。避障组件读取代表助手附近任何障碍物的数据,并使用向量场直方图(vector field histogram, VFH)算法选择合适的路径以避开行走路径中的任何障碍物。模糊逻辑组件负责合并用户意图和避障信息,使用户的请求得到最大程度的满足。当不安全的情况出现时,用户的请求将被部分或全部覆盖,这样助手就可以返回到安全状态。该系统被设计为可动态配置的,以适应不同用户在步态稳定性和强度、首选的行进速度和对系统的控制水平方面的需求。它已经在模拟环境和现实世界的操作条件下进行了测试,并被证明可以有效地避开障碍物,对用户及其意图的干扰最小。
A multi-stage shared control method for an intelligent mobility assistant
This paper presents a multi-stage shared control method (MSSC) which can be used to control the movement of a robotic mobility assistant designed to facilitate safe mobilization for people with unstable gait. The multi-stage control module consists of user intent, obstacle avoidance and fuzzy logic components. The user intent represents the person's commands. The obstacle avoidance component reads data representing any obstacles in the vicinity of the assistant and uses the vector field histogram (VFH) algorithm to select a suitable path to avoid any obstacles in the path of travel. The fuzzy logic component is responsible for merging the user intent and obstacle avoidance information such that the user's request is satisfied to the highest extent possible. When an unsafe situation presents itself the user's request(s) would be partially or wholly overridden so the assistant can return to a safe state. The system has been designed to be dynamically configurable so as to suit different users in terms of gait stability and strength, preferred speed of travel and level of control over the system. It has been tested both in a simulated environment and real-world operating conditions and has been shown to effectively avoid obstacles with minimal disruption to the user and their intent.