Brain–Robot Interface-Based Navigation Control of a Mobile Robot in Corridor Environments

摘要

This paper proposes a brain-robot interface (BRI)-based control strategy in combination with the simultaneous localization and mapping (SLAM) to achieve the navigation and control of a mobile robot in uncertain environments. The BRI is based on steady state visually evoked potentials, utilizing the multivariate synchronization index classification algorithm to analyze the human electroencephalograph (EEG) signals in such a manner that human intentions can be recognized and motion commands can be produced for the brain controlled robot. The entire system is semi-autonomous since the navigation of mobile robot is commanded by the BRI, and the low-level motion of the mobile robot is autonomous with a designed kinematic controller. By utilizing vanishing points and door plates as the environmental features, a global metric map of the environment has been built by a sequential SLAM algorithm. The main contribution of this paper is the combination of an artificial potential field (APF) and the brain signals, which builds up the relationship between the strength of EEG signals and the intensity of the potential field. Through the proposed EEG-APF method, motion commands that would plan an obstacle-free trajectory in un-structured environments, can be obtained. The entire system has been tested with eight volunteer subjects, and all subjects are able to successfully fulfill manipulating mobile robot in the experiments.