航空科学技术2025，Vol.36Issue(4)：74-82,9.DOI:10.19452/j.issn1007-5453.2025.04.009
基于穿戴式触觉反馈的人-多无人系统班组协同运动控制研究
Research on Coordinated Motion Control of Human-MRS Team with Wearable Tactile Feedback
摘要
Abstract
One of the typical manned and unmanned systems coordination applications is that the multi-robot systems(MRS)carrying payloads follow the manned system to pass through the complex environment to reach the destination.With the requirements for robust human-MRS team formation maintenance and high efficiency for task completion,it is necessary to offer intuitive,sensitive and rich feedback means to the human teammate,so as to improve his/her situation awareness about the team and the environment.To this end,this paper designed the human-MRS team coordinated motion control framework with the wearable tactile feedback,developed a dual-mode tactile feedback device worn on both upper arms,and proposed the tactile display method for the path guidance and the team connectivity level with vibro-tactile and squeeze-tactile feedback,respectively.A simulated platform of human-MRS team coordinated motion control was built,and experimental results show that the average task completion time has been reduced by 17.9%,and the average connectivity level has improved by 6%with the tactile feedback,compared to those with the visual feedback.These results have verified the effectiveness of the proposed approach.关键词
触觉反馈/有人/无人系统协同/多无人系统/编队控制/路径规划Key words
tactile feedback/manned and unmanned systems coordination/multi-robot systems/formation control/path planning分类
信息技术与安全科学引用本文复制引用
曾洪,张竞天,文鹏程,孙燈峰..基于穿戴式触觉反馈的人-多无人系统班组协同运动控制研究[J].航空科学技术,2025,36(4):74-82,9.基金项目
国家自然科学基金(62173089) （62173089）
航空科学基金(20171969007) （20171969007）
装备预研教育部联合基金(8091B042206) National Natural Science Foundation of China(62173089) （8091B042206）
Aeronautical Science Foundation of China(20171969007) （20171969007）
Ministry of Education Joint Foundation(8091B042206) （8091B042206）
