【作者】 李鸿岐； 史浩男； 毕路拯；

【Author】 Hongqi Li;Haonan Shi;Luzheng Bi;Beijing Institute of Technology;

【机构】 北京理工大学；

【摘要】 脑-控移动机器人系统的性能受到脑-机接口的限制。本文设计了一种基于模型预测控制的辅助控制器来提高给定脑-机接口条件时脑-控移动机器人的控制和安全性能。所提出的控制器将跟踪用户意图和保证脑-控移动机器人系统的安全性融合成为一个优化函数求解问题,通过模型约束、安全约束、物理约束下的优化,得到新的控制命令,实现用户对机器人最大限度的控制,同时保证机器人的安全。实验结果表明,基于该控制器的脑-控移动机器人提高了用户的的控制性能及系统的安全性能。更多还原

【Abstract】 Brain-computer interfaces(BCIs) limit the performance of current brain-controlled mobile robots system. In this paper, an assistive controller based on the model predictive control is designed in order to improve the control performance and the safety of the brain-controlled mobile robot given the performance of the BCI. The proposed controller switches the tracking of the user intention and safety of the brain-controlled mobile robot system into a cost function. Given the model constraints, safety constraints, and physical constraints, new control commands are obtained to realize the maximum control of the user while ensuring the safety of the robot. The experiment results show the proposed controller improves the control performance and the safety of the brain-controlled mobile robot.更多还原