Smooth collision avoidance in human-robot coexisting environment

Yusuke Tamura, Tomohiro Fukuzawa, Hajime Asama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

39 Citations (Scopus)

Abstract

In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian's behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a human. A robot detects pedestrians by using a laser range finder and tracks them by a Kalman filter. We apply the social force model to the observed trajectory for a determination whether the pedestrian intends to avoid a collision with the robot or not. The robot selects an appropriate behavior based on the estimation results. We conducted experiments that a robot and a person pass each other. Through the experiments, the usefulness of the proposed method was demonstrated.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3887-3892
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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