机器人Issue(1)：17-24,8.DOI:10.13973/j.cnki.robot.2015.0017
多机器人探索系统的人机共享控制
Human-Robot Shared Control for Multi-Robot Exploration System
摘要
Abstract
When multi-robot exploration systems are teleoperated by human, they should follow the operator’s intension;on the other hand, they should satisfy the network connectivity constraints and improve their own performance like commu-nication efficiency. This paper focuses on coordinating the relationship between the above two aspects. By attenuating the frontier grids sampling rate and using the teleoperator interest oriented task allocation algorithm, the task allocation decisions and the operator’s intention are coordinated by the real-time task allocator to solve the real-time requirements and human-robot decision coordination. In topology controller, an optimization Steiner tree problem is solved to minimize the number of Steiner points and maximize the weight sum of the other points, and thus the connectivity constraints are satisfied. In the selector for map fusion center, breadth first search is adopted to reduce transmission bandwidth cost and energy consumption. In typical indoor environments, comparative simulations against fully autonomous system“Possible Moves Sampling”and comparative experiment against an exploration system without a map fusion center are performed. The results show that the proposed system has higher and stabler exploration efficiency and lower data transfer amount, which proves the effectiveness of the human-robot shared control method.关键词
多机器人系统/环境探索/共享控制/网络连通性/数据传输Key words
multi-robot system/environment exploration/shared control/network connectivity/data transfer分类
信息技术与安全科学引用本文复制引用
张晗,陈卫东,王景川..多机器人探索系统的人机共享控制[J].机器人,2015,(1):17-24,8.基金项目
国家自然科学基金资助项目（60934006，61221003）；高等学校博士学科点专项科研基金资助项目（20100073110018）． （）
