TY - GEN
T1 - Brain-controlled leader-follower robot formation based on model predictive control
AU - Li, Enhua
AU - Bi, Luzheng
AU - Chi, Weiming
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - Brain-controlled robots have been developed to help people with disabilities to improve their mobility. However, the existing studies on brain-controlled robots focus on a single brain-controlled robot. Under some task conditions, multiple robots can cooperate to perform tasks better. In this paper, we design a formation control of brain-controlled mobile robots based on a leader-follower model. We use a model predictive controller and a formation planner based on model predictive control to maintain the robot formation and ensure the safety of the robot formation. The experimental results show that the proposed control method enables users to control the robot formation safely through a brain-machine interface. This work opens a new research direction in the fields of robotics and brain-machine interface.
AB - Brain-controlled robots have been developed to help people with disabilities to improve their mobility. However, the existing studies on brain-controlled robots focus on a single brain-controlled robot. Under some task conditions, multiple robots can cooperate to perform tasks better. In this paper, we design a formation control of brain-controlled mobile robots based on a leader-follower model. We use a model predictive controller and a formation planner based on model predictive control to maintain the robot formation and ensure the safety of the robot formation. The experimental results show that the proposed control method enables users to control the robot formation safely through a brain-machine interface. This work opens a new research direction in the fields of robotics and brain-machine interface.
KW - Brain-computer interfaces
KW - Formation control
KW - Leader-follower model
KW - Model predictive control
UR - http://www.scopus.com/inward/record.url?scp=85090398121&partnerID=8YFLogxK
U2 - 10.1109/AIM43001.2020.9158815
DO - 10.1109/AIM43001.2020.9158815
M3 - Conference contribution
AN - SCOPUS:85090398121
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 290
EP - 295
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -