Shared Control Method for Coal Mine Rescue Robots

摘要

This paper studies the man-machine shared control method based on man-machine mutual trust model and environmental information to enhance the working efficiency of coal mine rescue robots. Firstly, the framework of shared control system and working mode for the rescue robots are designed. Secondly, a mutual trust model between humans and machines is established by integrating the status of the operator, the performance of the robot, and the environmental information. Then, a human-machine shared control method is proposed, where the shared control coefficient is reasonably allocated by a fuzzy strategy taking human-machine mutual trust and environmental information as input. Finally, a robot experimental platform is used to illustrate the effectiveness of the proposed shared control method. The results show that the shared control method is of higher efficiency than teleoperation operation and autonomous control methods.