基于拓展社会力的机器人柔顺跟随与避障控制

doi:10.16182/j.issn1004731x.joss.22-0454

系统仿真学报 ›› 2023, Vol. 35 ›› Issue (8): 1776-1787.doi: 10.16182/j.issn1004731x.joss.22-0454

基于拓展社会力的机器人柔顺跟随与避障控制

彭建伟¹^,²(), 廖哲霖¹^,³, 姚瀚晨¹^,², 万郅玙¹^,⁴, 朱利琦¹, 戴厚德¹^,²()

^1. 中国科学院福建物质结构研究所, 福建福州 350002
^2. 中国科学院大学, 北京 100049
^3. 福建农林大学, 福建福州 350002
^4. 福州大学先进制造学院, 福建晋江 362200

收稿日期:2022-05-05 修回日期:2022-06-13 出版日期:2023-08-25 发布日期:2023-08-15
作者简介:
彭建伟(1997-)，男，硕士生，研究方向为移动机器人运动控制与人机交互。E-mail：pengjianwei20@mails.ucas.ac.cn
基金资助:
中央引导地方科技发展专项资金(2021L3047); 中国科学院对外合作重点项目(121835KYSB20190069)

A Compliant Robot Control Based on Extended Social-force Model for Human-following and Obstacle Avoidance

Jianwei Peng¹^,²(), Zhelin Liao¹^,³, Hanchen Yao¹^,², Zhiyu Wan¹^,⁴, Liqi Zhu¹, Houde Dai¹^,²()

^1. Fujian Institute of Research on the Structure, Chinese Academy of Sciences, Fuzhou 350002, China
^2. University of Chinese Academy of Sciences, Beijing 100049, China
^3. Fujian Agriculture and Forestry University, Fuzhou 350002, China
^4. School of Advanced Manufacturing, Fuzhou University, Jinjiang 362200, China

Received:2022-05-05 Revised:2022-06-13 Online:2023-08-25 Published:2023-08-15

摘要/Abstract

关键词: 人机共融, 人机跟随, 柔顺控制, 阻抗控制, 拓展社会力模型, 空间关系学, 避障

Key words: coexisting-cooperative-cognitive, human-following robots, compliant control, impedance control, extended social-force model, proxemics, obstacle avoidance

彭建伟, 廖哲霖, 姚瀚晨, 万郅玙, 朱利琦, 戴厚德. 基于拓展社会力的机器人柔顺跟随与避障控制[J]. 系统仿真学报, 2023, 35(8): 1776-1787.

Jianwei Peng, Zhelin Liao, Hanchen Yao, Zhiyu Wan, Liqi Zhu, Houde Dai. A Compliant Robot Control Based on Extended Social-force Model for Human-following and Obstacle Avoidance[J]. Journal of System Simulation, 2023, 35(8): 1776-1787.

图/表 10

图1

图2

图3

图4

表1

跟随机器人参数

主要参数	量值
机器人质量 $m$ /kg	40
驱动轮半径 $r$ /m	0.216
驱动轮轮轴距 $L$ /m	0.525
形心到轮轴中心的距离 $d$ /m	0.04
动力学模型参数 $ψ 1$	0.003
动力学模型参数 $ψ 2$	0.1
动力学模型参数 $ψ 3$	0.1
动力学模型参数 $ψ 4$	0.1

表1

表2

系统仿真参数

主要参数	量值
目标人私人区域半径 $d p e r s o n a l$ /m	1.5
目标人社交区域半径 $d s o c i a l$ /m	3.66
其他行人的私人区域半径 $d o p j$ /m	1.5
障碍物的膨胀范围 $d o b i$ /m	1
跟随距离 $ρ d$ /m	2
惯性系数 $i$	10
阻尼系数 $b$	500
弹性系数 $k$	7 200
拓展社会力强度系数 $γ$	10 000
拓展社会力方程阶数 $n$	2

表2

图5

图6

图7

表3

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类别	安全区时间/s	最小间距/m
机器人-静态障碍物	1.05	0.818
机器人-动态障碍物	1.15	1.345
机器人-被跟随目标	0	2.015
人工势场(静态障碍物)	1.25	0.811
人工势场(动态障碍物)	2.70	1.152

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基于拓展社会力的机器人柔顺跟随与避障控制

A Compliant Robot Control Based on Extended Social-force Model for Human-following and Obstacle Avoidance

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