SHARING CONTROL METHOD FOR ELECTROENCEPHALOGRAM MOBILE ROBOT IN UNKNOWN ENVIRONMENT

摘要

A sharing control method for an electroencephalogram mobile robot in an unknown environment. The sharing control method comprises: first collecting motor imagery electroencephalogram signals of a user, preprocessing the signals and performing feature extraction, performing self-adaptive weight linear summation on the electroencephalogram signals on the left side and the right side, and obtaining electroencephalogram-speed control signals; the mobile robot obtaining autonomous obstacle avoidance-speed control signals according to autonomous path planning; and the mobile robot being subjected to sharing control of the electroencephalogram-speed control signals and the autonomous obstacle avoidance-speed control signals and travelling in the unknown environment. According to the sharing control method for the electroencephalogram mobile robot in the unknown environment, a linear speed of the mobile robot can be controlled by means of the electroencephalogram-speed control signals, the direction of the linear speed of the mobile robot is controlled by means of the autonomous obstacle avoidance-speed control signals, and the traveling process is more stable by means of continuous sharing control.