TY - JOUR
T1 - Generation of avoidance motion for robots which coexist and cooperate with humans (2nd report, avoidance of moving obstacles for mobile robots)
AU - Tadokoro, Satoshi
AU - Hayashi, Masaki
AU - Manabe, Yasuhiro
AU - Nakami, Yoshihiro
AU - Takamori, Toshi
N1 - Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 1997
Y1 - 1997
N2 - This paper presents a trajectory planning method by which human cooperative mobile robots can avoid collision with human bodies. Indefinite human motion is predicted using a stochastic predictor. Evaluation of collision risk and efficiency of trajectory are taken in account in an evaluating function. Optimization using a genetic algorithm gives the robot trajectory. The mobile robots move so as to maximize safety taking into account every possible human motion. Simulation results showed that the robot could determine appropriate trajectories avoiding danger and that reasonable trajectories were generated even if human motion unexpectedly changed.
AB - This paper presents a trajectory planning method by which human cooperative mobile robots can avoid collision with human bodies. Indefinite human motion is predicted using a stochastic predictor. Evaluation of collision risk and efficiency of trajectory are taken in account in an evaluating function. Optimization using a genetic algorithm gives the robot trajectory. The mobile robots move so as to maximize safety taking into account every possible human motion. Simulation results showed that the robot could determine appropriate trajectories avoiding danger and that reasonable trajectories were generated even if human motion unexpectedly changed.
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U2 - 10.1299/kikaic.63.499
DO - 10.1299/kikaic.63.499
M3 - Article
AN - SCOPUS:0031073651
VL - 63
SP - 499
EP - 505
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 606
ER -