Human Decision-Making Behavior Modeling for Human Multi-Robot Interaction System

摘要

In this paper, the composition of human decision-making process in human-robot interaction is analyzed and the human decision-making behavior is modeled. The human decision-making process is divided into data-processing station and human cognitive system. By combining with the null-space-based control (NSBC) method, the traditional drift diffusion model (DDM) is applied for for human decision-making behavior modeling in human-robot interaction (HRI). In addition, HRI is studied for a platoon of autonomous robots in an unknown environment with multiple obstacles. Moreover, the human intervention task is designed to help robots achieve tasks successfully. Finally, simulation examples are given to demonstrate the satisfactory performance of the proposed method.