机器人轮椅用户行为与自主导航动态共享控制方法

机器人轮椅人机交互研究表明长时间采用单一模式交互容易导致用户操作意图误判且稳定性会变差，完全自主模式亦会因用户缺乏控制体验而产生沮丧情绪。针对当前基于人机协作的机器人轮椅交互存在模式间硬切换与缺乏对环境变化的动态调整能力的问题，本文以手势交互控制轮椅为基础，提出一种基于用户行为与自主导航相结合的机器人轮椅动态共享控制方法。首先基于Leap Motion传感器追踪用户掌心坐标，生成用户手势速度指令；其次，基于RPLIDAR A1激光雷达传感器并结合自主导航算法，生成自主导航控制指令；最后基于距离、疲劳及误差等多种约束条件实时更新人-机控制指令权重，实现对机器人轮椅的动态共享控制。实验结果表明，本文所提动态共享控制方法能根据轮椅运行环境与用户操作性能动态调整不同模式间的角色分配，避免了不同模式间的直接硬切换，具有较好的用户体验。

Robotic wheelchair interactive control via dynamic sharing gesture with navigation

Studies of robot wheelchair human-robot interaction have shown that long-term use of a single mode of interaction can easily lead to misjudgment of user operation intentions and decrease of control stability. The complete autonomous mode can also cause people frustration due to the lack of user control experience. Aiming at the problems of hard mode switching and lack of dynamic adjustment ability to environmental changes in the existing robot wheelchair interaction based on human-robot cooperation, this paper uses the gesture interactive control and proposes a robot wheelchair dynamic shared control method based on the combination of user behavior and autonomous navigation. Firstly, the user''s palm coordinates are tracked based on the Leap Motion sensor to generate the user''s gesture speed command; Secondly, the autonomous navigation control command is generated based on RPLIDAR A1 lidar sensor and autonomous navigation algorithm; Finally, the weight of human-robot control command is updated in real time based on various constraints such as distance, fatigue and error, so as to realize the dynamic shared control of robot wheelchair. The experimental results show that the dynamic shared control method can dynamically adjust the role allocation between different modes according to the wheelchair operating environment and user operating performance, avoid the direct hard switching between different modes, and has a better user experience.