On motion planning of mobile robots which coexist and cooperate with human

Satoshi Tadokoro, Masaki Hayashi, Yasuhiro Manabe, Yoshihiro Nakami, Toshi Takamori

Research output: Contribution to conferencePaper

35 Citations (Scopus)

Abstract

In this paper, a motion planning method for mobile robots that coexist and cooperate with human being to avoid collision is proposed. Human motion, which has large uncertainty, is predicted by a motion predictor using a stochastic process model to generate probability distribution maps of human existence in near future. An evaluating function is defined considering danger of collision and efficiency of trajectories. A genetic algorithm determines the robot trajectory by optimizing the function. This procedure is repeated for each sampling time. The robot moves maintaining high safety against various possible human motion. Simulation results revealed that robots can reach goals avoiding danger along appropriate trajectories and that this method is effective especially for the case where optimal trajectories dynamically vary according to change of human motion.

Original languageEnglish
Pages518-523
Number of pages6
Publication statusPublished - 1995 Jan 1
Externally publishedYes
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/8/595/8/9

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Tadokoro, S., Hayashi, M., Manabe, Y., Nakami, Y., & Takamori, T. (1995). On motion planning of mobile robots which coexist and cooperate with human. 518-523. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .