Brain-controlled leader-follower robot formation based on model predictive control

Enhua Li*, Luzheng Bi, Weiming Chi

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

7 引用 (Scopus)

摘要

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.

源语言英语
主期刊名2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
出版商Institute of Electrical and Electronics Engineers Inc.
290-295
页数6
ISBN(电子版)9781728167947
DOI
出版状态已出版 - 7月 2020
活动2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, 美国
期限: 6 7月 20209 7月 2020

出版系列

姓名IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2020-July

会议

会议2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
国家/地区美国
Boston
时期6/07/209/07/20

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