基于脑机接口与人机闭环的远程脑控无人机系统  

Remote Brain-controlled Unmanned Aerial Vehicle System Based on Brain-machine Interface and Human-machine Closed Loop

作　　者：刘思宇[1] 张德雨 明致远 刘梦真 刘紫玉 陈启明 张健[1] 吴景龙[1] 闫天翼 LIU Siyu;ZHANG Deyu;MING Zhiyuan;LIU Mengzhen;LIU Ziyu;CHEN Qiming;ZHANG Jian;WU Jinglong;YAN Tianyi(School of Medical Technology,Beijing Institute of Technology,Beijing 100081,China;Hangzhou Innovation Institute of Beihang University,Hangzhou 310051,Zhejiang,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学医学技术学院,北京100081 [2]北京航空航天大学杭州创新研究院,浙江杭州310051 [3]北京理工大学机电学院,北京100081

出　　处：《兵工学报》2024年第9期3191-3203,共13页Acta Armamentarii

基　　金：科技创新2030-重大项目(2022ZD0208500);国家自然科学基金项目(U20A20191、62336002、82071912、12104049、82202291、62306035、62373056);中国博士后科学基金项目(2023TQ0027)。

摘　　要：随着现代军事战争的迅速演变,远程脑控无人机在实现战场信息获取、目标监视和战术部署方面扮演着愈发重要的角色。提出一种应用于远程脑控无人机的压缩感知控制范式和人机闭环控制算法,基于该控制范式及控制算法搭建面向军事应用场景的远程脑控无人机系统。在线实验结果表明:8名被试人员通过该脑控无人机系统进行导航任务,平均任务完成率为0.95,平均任务完成时间为100.46 s,显著优于基于人机开环控制算法的脑控无人机系统;新提出的脑控无人机系统可以应用于军事场景下的战场侦察,大幅度提高作战人员的无人机远程控制能力,拓展作战人员的战场感知范围。With the rapid evolution of modern military warfare,the remote brain-controlled unmanned aerial vehicle(UAV)systems are playing an increasingly important role in battlefield information gathering,target surveillance,and tactical deployment.This research proposes a compressed sensing control paradigm and a human-machine closed-loop control algorithm for remote brain-controlled UAV.Based on this control paradigm and algorithm,a remote brain-controlled UAV system for military applications is constructed.Online experiments conducted in this study demonstrate that eight participants successfully completed the navigation tasks using the brain-controlled UAV system based on the compressed sensing control paradigm and human-machine closed-loop control algorithm.The average task completion rate of the proposed brain-controlled UAV system is 0.95,and its average task completion time is 100.46 s,which significantly outperformes the brain-controlled UAV system based on human-machine open-loop control algorithms.In the future,the proposed brain-controlled UAV system can be used for battlefield reconnaissance in military scenarios,significantly enhancing the remote-control capabilities of military personnel and expanding their battlefield awareness.

关 键 词：脑控无人机 脑机接口 人机闭环 压缩感知 

分 类 号：TJ85[兵器科学与技术—武器系统与运用工程]