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

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

Abstract

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.

Figures/Tables 10

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Table 1

Human-following robot parameter settings

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

Table 1

Table 2

Simulation parameter settings

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

Table 2

Fig. 5

Fig. 6

Fig. 7

Table 3

References 26

1	何玉庆, 赵忆文, 韩建达, 等. 与人共融-机器人技术发展的新趋势[J]. 机器人产业, 2015(5): 74-80.
	He Yuqing, Zhao Yiwen, Han Jianda, et al. Inclusion With People-a New Trend in Robotics Development[J]. Robot Industry, 2015(5): 74-80.
2	Kobayashi Y, Kinpara Y, Shibusawa T, et al. Robotic Wheelchair Based on Observations of People Using Integrated Sensors[C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2009: 2013-2018.
3	Yan Shihao, Tao Jing, Huang Jian, et al. Model Predictive Control for Human Following Rehabilitation Robot[C]//2019 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO). NJ, USA: IEEE, 2019: 369-374.
4	Pineau J, Montemerlo M, Pollack M, et al. Towards Robotic Assistants in Nursing Homes: Challenges and Results[J]. Robotics and Autonomous Systems, 2003, 42(3/4): 271-281.
5	李晓天. 一种跟随式助老机器人的设计与研究[J]. 电子世界, 2021(16): 104-106.
	Li Xiaotian. Design and Research of a Following Elderly Assistance Robot[J]. Electronics World, 2021(16): 104-106.
6	Edmonds M, Yigit T, Hong V, et al. Optimal Trajectories for Autonomous Human-following Carts With Gesture-Based Contactless Positioning Suggestions[C]//2021 American Control Conference(ACC). Piscataway, NJ, USA: IEEE, 2021: 3896-3901.
7	胡荣, 章小宝, 谭菊华. 基于深度学习的智能物流分拣跟随机器人的设计与研究[J]. 中国储运, 2022(2): 141-142.
	Hu Rong, Zhang Xiaobao, Tan Juhua. Design and Research of Intelligent Logistics Sorting Following Robot Based on Deep Learning[J]. China Storage & Transport, 2022(2): 141-142.
8	谢嘉, 桑成松, 王世明, 等. 智能跟随移动机器人的研究与应用前景综述[J]. 制造业自动化, 2020, 42(10): 49-55.
	Xie Jia, Sang Chengsong, Wang Shiming, et al. Overview of Research and Application Prospect of Intelligent Following Mobile Robot[J]. Manufacturing Automation, 2020, 42(10): 49-55.
9	孙月, 刘景泰. 基于RGB-D传感器的室内服务机器人舒适跟随方法[J]. 机器人, 2019, 41(6): 823-833.
	Sun Yue, Liu Jingtai. RGB-D Sensor Based Human Comfortable Following Behavior for Service Robots in Indoor Environments[J]. Robot, 2019, 41(6): 823-833.
10	Jia Songmin, Wang Lijia, Wang Shuang, et al. Fuzzy-based Intelligent Control Strategy for a Person Following Robot[C]//2013 IEEE International Conference on Robotics and Biomimetics(ROBIO). Piscataway, NJ, USA: IEEE, 2013: 2408-2413.
11	Nakazawa K, Takahashi K, Kaneko M. Movement Control of Accompanying Robot Based on Artificial Potential Field Adapted to Dynamic Environments[J]. Electrical Engineering in Japan, 2015, 192(1): 25-35.
12	Sekiguchi S, Yorozu A, Kuno K, et al. Human-friendly Control System Design for Two-wheeled Service Robot With Optimal Control Approach[J]. Robotics and Autonomous Systems, 2020, 131: 103562.
13	Hall E T, Birdwhistell R L, Bock B, et al. Proxemics and Comments and Replies[J]. Current Anthropology, 1968, 9(2/3): 83-108.
14	孙立香, 孙晓娴, 刘成菊, 等. 人群环境中基于深度强化学习的移动机器人避障算法[J]. 信息与控制, 2022, 51(1): 107-118.
	Sun Lixiang, Sun Xiaoxian, Liu Chengju, et al. Obstacle Avoidance Algorithm for Mobile Robot Based on Deep Reinforcement Learning in Crowd Environment[J]. Information and Control, 2022, 51(1): 107-118.
15	Hogan N. Impedance Control: An Approach to Manipulation[C]//1984 American Control Conference. Piscataway, NJ, USA: IEEE, 1984: 304-313.
16	Hogan N. Impedance Control: An Approach to Manipulation[C]//1984 American Control Conference. Piscataway, NJ, USA: IEEE, 1984: 304-313.
17	Hogan N. Impedance Control: An Approach to Manipulation: Part II-implementation[J]. Journal of Dynamic Systems, Measurement, and Control, 1985, 107(1): 8-16.
18	陈靓, 黄玉平, 陶云飞, 等. 基于阻抗模型的下肢康复机器人交互控制系统设计[J]. 计算机测量与控制, 2020, 28(4): 116-120.
	Chen Liang, Huang Yuping, Tao Yunfei, et al. Design of Interactive Control System of Lower Limb Rehabilitation Robot Based on Impedance Model[J]. Computer Measurement & Control, 2020, 28(4): 116-120.
19	Morioka K, Lee J H, Hashimoto H. Human-following Mobile Robot in a Distributed Intelligent Sensor Network[J]. IEEE Transactions on Industrial Electronics, 2004, 51(1): 229-237.
20	姚瀚晨, 彭建伟, 戴厚德, 等. 基于改进弹簧模型的移动机器人柔顺跟随行人方法[J]. 机器人, 2021, 43(6): 684-693.
	Yao Hanchen, Peng Jianwei, Dai Houde, et al. A Compliant Human Following Method for Mobile Robot Based on an Improved Spring Model[J]. Robot, 2021, 43(6): 684-693.
21	Herrera D, Roberti F, Toibero M, et al. Human Interaction Dynamics for Its Use in Mobile Robotics: Impedance Control for Leader-follower Formation[J]. IEEE/CAA Journal of Automatica Sinica, 2017, 4(4): 696-703.
22	Celso De La Cruz, Carelli R. Dynamic Model Based Formation Control and Obstacle Avoidance of Multi-robot Systems[J]. Robotica, 2008, 26(3): 345-356.
23	陈明, 甘亚辉, 戴先中, 等. 基于阻抗控制的工业机器人轨迹跟踪系统设计[C]//第十二届中国智能机器人大会论文集. 哈尔滨: 中国人工智能学会, 2017: 324-331.
	Chen Ming, Gan Yahui, Dai Xianzhong, et al. Design of Trajectory Tracking System for Industrial Robots Based on Impedance Control[C]//Proceedings of the 12th China Intelligent Robot Conference. Harbin: Chinese Association for Artificial Intelligence, 2017: 324-331.
24	Helbing Dirk, Molnár Péter. Social Force Model for Pedestrian Dynamics[J]. Physical Review E, 1995, 51(5): 4282-4286.
25	Ferrer Gonzalo, Anaís Garrell Zulueta, Fernando Herrero Cotarelo, et al. Robot Social-aware Navigation Framework to Accompany People Walking Side-by-side[J]. Autonomous Robots, 2017, 41(4): 775-793.
26	Khatib O. Real-time Obstacle Avoidance for Manipulators and Mobile Robots[C]//Proceedings. 1985 IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1985: 500-505.

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

[1]	Junqiang Lin, Hongjun Wang, Xiangjun Zou, Po Zhang, Chengen Li, Yipeng Zhou, Shujie Yao. Obstacle Avoidance Path Planning and Simulation of Mobile Picking Robot Based on DPPO [J]. Journal of System Simulation, 2023, 35(8): 1692-1704.
[2]	Junxiao Xue, Xiangyan Kong, Bowei Dong, Hao Tao, Haiyang Guan, Lei Shi, Mingliang Xu. Obstacle Avoidance and Simulation of Carrier-Based Aircraft on the Deck of Aircraft Carrier [J]. Journal of System Simulation, 2023, 35(3): 592-603.
[3]	Teng Li, Peipei Ding, Jinfang Liu. Multi-Stage Multi-AGV Path Planning with Walk under Shelves for Robotic Mobile Fulfillment Systems [J]. Journal of System Simulation, 2022, 34(7): 1512-1523.
[4]	Chikun Gong, Xunwei Wu, Lipeng Yuan. Control of Quadruped Robot Based on Impedance and Virtual Model [J]. Journal of System Simulation, 2022, 34(10): 2152-2161.
[5]	Chen Zhimei, Li Min, Shao Xuejuan, Zhao Zhicheng. Obstacle Avoidance Path Planning of Bridge Crane Based on Improved RRT Algorithm [J]. Journal of System Simulation, 2021, 33(8): 1832-1838.
[6]	Deng Tao, Li Xin. Simulation on Obstacle Avoidance Tracking of Intelligent Vehicle Based on Model Predictive Control [J]. Journal of System Simulation, 2020, 32(8): 1556-1566.
[7]	Liu Lei, Gao Yan, Wu Yuepeng. Viability Control of Rigid Body Wheeled Robots for High Speed Obstacle Avoidance [J]. Journal of System Simulation, 2016, 28(12): 3001-3009.

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

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 10

References 26

Related Articles 7

Recommended Articles

Metrics

Comments