Friendly Interaction Control with Human and Environment for A Blind-Guiding Wheel-legged Robot

In this paper, we design a blind guiding robot by imitated the biological guide dog, and propose a kind of smooth turning and obstacle avoidance control that fits the action of drawing blind people. At present, the common guiding robot can not consider the user's experience of blind people during drawing. The common biological guide dog pulls the blind person forward in front of the blind person's side, so the speed impact of the relative position on the blind person should be considered in the traction control of the guiding robot. At the same time, in the process of obstacle avoidance, the biological guide dog will also choose the obstacle avoidance method according to the position of the blind person. Therefore, this paper decomposes the speed relationship between the blind and the robot through the calculation of the relative position, and designs a perceptual obstacle avoidance system in a complex environment. Finally, the system simulation experiment is completed in the Matlab-Simulink environment, which proves that the control method proposed in this paper can effectively improve the safety of the blind in the process of being pulled.