LQR-based control strategy for improving human-robot companionship and natural obstacle avoidance  

作　　者：Zefan Su Hanchen Yao jianwei Peng Zhelin Liao Zengwei Wang Hui Yu Houde Dai Tim C.Lueth 

机构地区：[1]School of Advanced Manufacturing,Fuzhou University,Jinjiang 362251,China [2]Quanzhou Institute of Equipment Manufacturing,Fujian Institute of Research on the Structure of Matter,Chinese Academy of Sciences,Jinjiang 362200,China [3]Institute of Micro Technology and Medical Device Technology(MIMED),School of Engineering and Design,Technical University of Munich,Garching 85748,Germany

出　　处：《Biomimetic Intelligence & Robotics》2024年第4期38-47,共10页仿生智能与机器人(英文)

基　　金：supported in part by the National Natural Science Foundation of China(61973293);the Fujian Provincial Science and Technology Plan Project(2023T3008,2023T3069,and 2023T3084);the Quanzhou Science and Technology Plan Project(2022FX7);the Open Project Program of Fujian Key Laboratory of Special Intelligent Equipment Measurement and Control(FJIES2023KF02).

摘　　要：In the dynamic and unstructured environment of human-robot symbiosis,companion robots require natural human-robot interaction and autonomous intelligence through multimodal information fu-sion to achieve effective collaboration.Nevertheless,the control precision and coordination of the accompanying actions are not satisfactory in practical applications.This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot.This paper proposes a companion control strategy based on the Linear Quadratic Regulator(LQR)to enhance the coordination and precision of robot companion tasks.This method enables the robot to adapt to sudden changes in the companion target's motion.Besides,the robot could smoothly avoid obstacles during the companion process.Firstly,a human-robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target.Then,an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target's direction and velocity.Finally,various simulations and real-world human-robot companion experiments are conducted to regulate the relative position,orientation,and velocity between the target object and the robot platform.Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation.The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios.

关 键 词：Human-robot interaction Linearquadratic regulator Human-accompanying robots Behavioral dynamics 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]