| Multi-robot system can perform more complex tasks than single robot through cooperation and has stronger flexibility,fault tolerance and environmental adaptability.However,despite the rapid development of autonomous task execution capabilities of robots in recent years,complex environments still require human intervention in the form of advanced reasoning and planning.Therefore,it is of more practical significance to introduce human intelligence into the control and decision-making of multi-robot system compared with fully autonomous multirobot system.In addition,if the operator in the master side can receive the force feedback from the slave side,its telepresence and response ability will be significantly improved.Therefore,the use of force feedback devices to interact with multi-robot systems has attracted widespread attention.However,when using force feedback equipment to interact with multi-robot system,there are some problems,such as limited remote operation task,unintuitive interaction and huge cognitive burden on the operator.In this paper,the formation control system of multi-mobile robots based on eye tracking and force feedback is studied,and the remote control based on hand-eye dual-mode input is focused on.Firstly,a human-computer interaction interface based on eye tracking is designed.The fixation information of the operator is modeled and the mapping relationship between fixation point and residence time and formation command is established.An eye tracker is used to obtain the fixation point and residence time of the operator on the graphical interface,and the desired formation of the multi-robot system in the slave side is obtained through algorithm processing.Secondly,a formation control system for multi-mobile robots based on eye tracking and force feedback is proposed,which divides the tasks of multi-mobile robots into two levels:teleoperation task and autonomous task.The teleoperation task is performed by the operator controlling the human-computer interaction devices in the master side.The end effector of the force feedback is used to generate the speed and formation size commands.The eye tracker captures the operator’s fixation point through the graphical user interface and generates the desired formation shape command.The autonomous tasks,including obstacle avoidance and formation keeping,are accomplished autonomously by the multi-robot system.At the same time,the multi-robot system transmits the internal state to the operator through the force feedback device.Finally,the system integration and experimental verification are carried out,including the hardware-in-the-loop simulation experiment and the real experiment.In the feasibility analysis of the hardware-in-the-loop simulation experiment,three task scenarios are designed: covering task,obstacle avoidance task and formation task.In addition,in order to evaluate the performance of the remote control system proposed in this paper,a comparative experiment is designed to compare it with the traditional bilateral teleoperation system.The experimental results were quantitatively analyzed by using steering entropy,main task efficiency and additional task efficiency,and the performance of the system was qualitatively evaluated by psychophysical experiments.Then,the functions of the remote control system for multi-mobile robot based on eye tracking and force feedback are comprehensively verified on the physical platform.The experimental results show that compared with the traditional system which only uses force feedback equipment to control the multi-mobile robots,the cognitive load of the operator is reduced by 45.3%,the main task efficiency is improved by 35.5%,and the additional tasks can be undertaken by the operator is increased by 43% in the system proposed in this paper.In addition,users generally expressed that compared with the traditional bilateral teleoperation system,the remote control system proposed in this paper has better experience and is more interesting. |
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