Indoor navigation system for human based on multi-site vibrotactile feedback

被引：0
|
作者：
Shi S. [1 ]
Song G. [1 ]
Liu S. [2 ]
Wei Z. [1 ]
Li S. [1 ]
Song A. [1 ]
机构：
[1] School of Instrument Science and Engineering, Southeast University, Nanjing
[2] Electric Power Dispatching and Control Center, Jiangsu Electric Power Company, Nanjing
来源：
Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) | 2019年 / 49卷 / 01期
关键词：
Autonomous navigation robot; Human body tracking; Human-robot cooperative navigation algorithm; Multi-site tactile feedback;
D O I：
10.3969/j.issn.1001-0505.2019.01.015
中图分类号：
学科分类号：
摘要：
To improve the navigation performance of the traditional navigation system for human, a navigation system for human based on multi-site vibrotactile feedback is designed. The system is based on an autonomous navigation mobile robot. The human-robot cooperative navigation algorithm which gives full consideration to the user's autonomy and comfort is applied to make the user to freely decide his/her own speed. By using statistical methods to research the ability for vibrotactile perception of body parts, it's found that fingers and wrists are suitable for feeling vibrotactile signals. Therefore, a multi-site vibrotactile device is developed as a human-robot interface. This human-robot interface and human-robot cooperative navigation algorithm is utilized to make the system implement autonomous navigation for people. The experimental results of system performance validation show that the navigation system based on multi-site vibrotactile feedback has good anti-jamming capability. The mean of the formation error is 0.23 m, and the navigation speed is 0.13 m/s. It has better performance than the navigation system based on the kinaesthetic and the one based on the single-site vibrotactile feedback. © 2019, Editorial Department of Journal of Southeast University. All right reserved.
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页码：101 / 109
页数：8
相关论文
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