半自律系における類似タスク区別のための非線形力学系次元拡張

抄録

The conventional remote operations of an excavator have low work efficiency compared with direct operations. To overcome this problem, we have developed a semi-autonomous control system that consists of autonomy (dynamical system with attractor) and human action (by admittance control). Furthermore, we have designed discrete task selection in the semi-autonomous leader–follower system using a nonlinear dynamical system with bifurcated trajectory attractor, however, it was difficult to achieve task trajectory intersection and proximity. In this paper, we design a semi-autonomous control system that avoids the intersection and proximity of trajectories by dimensional extension of the dynamical system and realizes the selection from similar tasks. The proposed system is experimentally verified using a leader–follower excavation robot.