Brain-Controlled Leader-Follower Robot Formation Based on Model Predictive Control

摘要

Brain-controlled robots have been developed to help people with disabilities to improve their mobility. However, the existing studies on brain-controlled robots focus on a single brain-controlled robot. Under some task conditions, multiple robots can cooperate to perform tasks better. In this paper, we design a formation control of brain-controlled mobile robots based on a leader-follower model. We use a model predictive controller and a formation planner based on model predictive control to maintain the robot formation and ensure the safety of the robot formation. The experimental results show that the proposed control method enables users to control the robot formation safely through a brain-machine interface. This work opens a new research direction in the fields of robotics and brain-machine interface.