信息与控制2024，Vol.53Issue(2)：199-210,12.DOI:10.13976/j.cnki.xk.2023.2548
基于虚拟现实和眼动追踪的人-集群机器人交互方法
Human-Swarm Robots Interaction Approach Based on Virtual Reality and Eye Tracking
摘要
Abstract
Remote control of swarm robots by human operators is fraught with many issues due to the vast number of controlled robots,the difficulty of accessing the state of swarms,and the difficulty of regulating the collective actions of robots.As a result,some conventional interaction methods,such as manual remote control,cannot achieve efficient,flexible,and highly immersive human-swarm robot interactions.We propose a novel human-swarm robot interaction(HSI)approach based on virtual reality(VR)and eye-tracking techniques.First,we construct a VR interaction scene of swarm robots and collect the eye-tracking data of operators.Second,we analytically ob-tain eye movement features such as pupil and gaze positions and generate the motion control in-structions of the swarm robots accordingly.Finally,we test the proposed HSI approach through three experiments using real swarm robots:swarm roaming,swarm goal-oriented tracking,and swarm trajectory tracking.The robot experimental results show that our HSI approach can realize flexible and convenient human-swarm robot remote interactive control,which provides a new form for human-swarm robot interactions.关键词
人-集群机器人交互方法/集群机器人/虚拟现实交互/眼动追踪/集群行为控制Key words
human-swarm robots interac-tion approach/swarm robots/VR(virtual reality)interac-tion/eye tracking/control of swarm behavior分类
信息技术与安全科学引用本文复制引用
许明玉,雷小康,段中兴,向雅伦,段梦园,郑志成,彭星光..基于虚拟现实和眼动追踪的人-集群机器人交互方法[J].信息与控制,2024,53(2):199-210,12.基金项目
国家自然科学基金项目(62076203) （62076203）
