Human-robot collaborative high-level control with application to rescue robotics
Human-robot collaborative high-level control with application to rescue robotics
复制标题
人机协作高级控制及其在救援机器人中的应用
DOI：
10.1109/icra.2016.7487442
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
O. Stryk
中科院分区：
文献类型：
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作者：
Philipp Schillinger;S. Kohlbrecher;O. Stryk
受DARPA机器人挑战赛（DRC）的启发，具有高度复杂运动和操纵能力的操作员辅助（半）自主机器人被认为是在潜在的未知和非结构化环境中解决复杂任务的应用。由于实现复杂使命所需的环境和任务的状态的先验知识有限，因此不可能进行充分完整的高级机器人行为的先验设计。这种行为设计所需的大多数情境知识仅在运行时收集，并且需要由人类操作员解释。然而，目前的行为控制方法只允许在运行时非常有限的适应，没有灵活的操作员交互。本文提出了一种基于分层状态机的复杂机器人行为的定义和执行方法，通过远程操作员的协助，可以在运行时灵活地改变行为的结构。所提出的方法的效率证明和评估，不仅在一个例子的情况下，而且在两个机器人比赛中的应用。
Motivated by the DARPA Robotics Challenge (DRC), the application of operator assisted (semi-)autonomous robots with highly complex locomotion and manipulation abilities is considered for solving complex tasks in potentially unknown and unstructured environments. Because of the limited a priori knowledge about the state of the environment and tasks needed to achieve a complex mission, a sufficiently complete a priori design of high level robot behaviors is not possible. Most of the situational knowledge required for such behavior design is gathered only during runtime and needs to be interpreted by a human operator. However, current behavior control approaches only allow for very limited adaptation at runtime and no flexible operator interaction. In this paper an approach for definition and execution of complex robot behaviors based on hierarchical state machines is presented, allowing to flexibly change the structure of behaviors on the fly during runtime through assistance of a remote operator. The efficiency of the proposed approach is demonstrated and evaluated not only in an example scenario, but also by application in two robot competitions.