Teleoperation control of a wheeled mobile robot based on Brain-machine Interface

摘要

This paper presents a novel teleoperation system using Electroencephalogram (EEG) to control the motion of a wheeled mobile robot (WMR). Different from the other traditional motion controlling method, the WMR is braked with the EEG classification results. Furthermore, the EEG will be induced by using the online BMI (Brain Machine Interface) system, and adopting the non-intrusion induced mode SSVEP (steady state visually evoked potentials). Then, user's motion intention can be recognized by canonical correlation analysis (CCA) classifier, which will be converted into motion commands of the WMR. Finally, the teleoperation technique is utilized to manage the information of the movement scene and adjust the control instructions based on the real-time information. Bezier curve is used to parameterize the path planning of the robot, and the trajectory can be adjusted in real time by EEG recognition results. A motion controller based on error model is proposed to track the planned trajectory by using velocity feedback control, providing excellent track tracking performance. Finally, the feasibility and performance of the proposed teleoperation brain-controlled WMR system are verified using demonstration experiments.