Human observation based mobile robot navigation in intelligent space

Takeshi Sasaki, Hideki Hashimoto

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

19 Citations (Scopus)

Abstract

In this paper, we investigate a mobile robot navigation system which can localize the mobile robot correctly and navigate based on observation of human walking in order to operate in the human shared space with minimal disturbance to humans. To realize this system, we utilize many intelligent devices embedded in the environment. The human walking paths are obtained from distributed vision systems and frequently used paths in the environment are extracted. The mobile robot navigation based on observation of human is also performed with the support of the system. The position and orientation of the mobile robot are estimated from wheel encoder and 3D ultrasonic positioning system measurement data using extended Kalman filter. The system navigates the mobile robot along the frequently used paths by tracking control.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1044-1049
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Environment design for mobile robots
  • Human observation
  • Intelligent space

ASJC Scopus subject areas

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

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  • Cite this

    Sasaki, T., & Hashimoto, H. (2006). Human observation based mobile robot navigation in intelligent space. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1044-1049). [4058502] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281808