Brain-actuated teleoperation control of a mobile robot

摘要

In order to extend the control capacity of human brain, this paper describes an feasible path planing and path tracking approach based on Bezier curve for the robot controlled by brain-actuated teleoperation. The BCI (Brain Computer Interface) using steady stare visual evoked potentials (SSVEP) analyzes the EEG data such that the human intentions can be recognized and used to control a robot tracking the trajectory. The planning path is continuous without violating dynamic constraints of the robot, and the planned trajectory is varies by changing the parameters which related by BCI. An online BCI system based on SSVEP is developed to control the path followed by the robot, which consists of signal data processing and Adaboost-SVM classifier. The experimental results confirmed the feasibility of the proposed BCI method only controlled by human brain.