A Behavior Control Scheme for Multi-Robot Systems under Human Intervention

被引：0
作者：
Huang, Jie [1 ]
Wu, Wenhua [1 ]
Ning, Yingying [2 ]
Zhou, Ning [3 ]
Xu, Zezhuang [1 ]
机构：
[1] Fuzhou Univ, Coll Elect Engn & Automat, Fuzhou 350108, Peoples R China
[2] Fujian Inst Educ, Fuzhou 350000, Peoples R China
[3] Fujian Agr & Forestry Univ, Coll Comp & Informat Sci, Fuzhou 350002, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
基金：
中国国家自然科学基金; 欧洲研究理事会;
关键词：
Human intervention; behavioral control; multi-robot systems; formation control; HUMAN-ROBOT INTERACTION;
D O I：
10.23919/chicc.2019.8866251
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies the behavioral control of a group of autonomous robots under human intervention, and each agent is modeled by an single integrator. The human-dominated task and robot self-determination task functions are designed, respectively, and they are elaborately merged by the proposed behavioral control framework. The human intervention has the highest authority to change the priority of the tasks. Finally, the case studies show that the proposed method can effectively solve the multi-task conflict problem under human intervention and realize the formation of robots.
引用
收藏
页码：6189 / 6193
页数：5
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