论文标题
解放社会导航：机器人导航中基于动态系统的触点控制的合规性
Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation
论文作者
论文摘要
大量努力集中在确保移动服务机器人的控制器遵循近亲和其他社会规则，以确保安全且在社会上可接受的行人距离。但是，当机器人在拥挤的地区或遇到对抗行人时，机器人在旅行时，非自愿接触可能是不可避免的。冻结机器人以响应接触可能会不利于旁观者的安全，并防止其完成任务。因此，必须控制不可避免的接触，以确保行人小巷中的机器人安全而平稳。我们提出了一个被限制的障碍物避免控制器，该控制器集成到闭环力控制器中的时间不变的动力系统（DS）中，该系统使机器人立即反应接触或突然出现行人。减轻碰撞的风险是通过在检测接触时调节速度命令并通过主动兼容控制的一部分接触力来完成的，而当机器人无意中撞击行人时，就可以通过主动兼容的控制。我们使用个人移动机器人（Qolo）评估了我们的方法，以被动和主动的合规性缓解接触。我们展示了能够在1 m/s以下的速度的设定极限接触力的9 n内克服对抗行人的机器人。此外，我们评估了综合障碍避免，证明了在不产生任何其他碰撞的情况下进步的能力。
Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the robot travels in crowded areas or when encountering adversarial pedestrians. Freezing the robot in response to contact might be detrimental to bystanders' safety and prevents it from achieving its task. Unavoidable contacts must hence be controlled to ensure the safe and smooth travelling of robots in pedestrian alleys. We present a force-limited and obstacle avoidance controller integrated into a time-invariant dynamical system (DS) in a closed-loop force controller that let the robot react instantaneously to contact or to the sudden appearance of pedestrians. Mitigating the risk of collision is done by modulating the velocity commands upon detecting a contact and by absorbing part of the contact force through active compliant control when the robot bumps inadvertently against a pedestrian. We evaluated our method with a personal mobility robot -- Qolo -- showing contact mitigation with passive and active compliance. We showed the robot able to overcome an adversarial pedestrian within 9 N of the set limit contact force for speeds under 1 m/s. Moreover, we evaluated integrated obstacle avoidance proving the ability to advance without incurring any other collision.
