A Human-Robot-Interaction-Based Navigation System for Mobile Service Robot

摘要

Since it is difficult to construct a completely independent mobile robot at present,ahuman-machineenvironmentintegrated navigation system for mobile robot based on human-machine integration philosophy is proposed, which consists of an operator,a human-robot interaction platform and a mobile robot.The architecture and navigation strategy are introduced.Human-robot interaction and cooperation,pose prediction and pose regulation based on extended Kalman filter for the mobile robot are also analyzed in detail.The navigation system interface is designed,and navigation experiments under indoor environment are made to verify the effectiveness of the proposed mobile robothuman-machine-environmentintegrated navigation system.