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

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

研究成果: Paper査読

36 被引用数 (Scopus)

抄録

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.

本文言語English
ページ518-523
ページ数6
出版ステータスPublished - 1995 1 1
外部発表はい
イベントProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
継続期間: 1995 8 51995 8 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

フィンガープリント 「On motion planning of mobile robots which coexist and cooperate with human」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル