Collision-avoidance algorithm for human-symbiotic robot

Yuji Hosoda, Kenjirou Yamamoto, Ryouko Ichinose, Saku Egawa, Junichi Tamamoto, Kouji Tsubouchi, Shinichi Yuta

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

A real-time collision-avoidance algorithm for human-symbiotic robots that are required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot - called EMIEW" - using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is a maximum of 4 ms.

本文言語English
ホスト出版物のタイトルICCAS 2010 - International Conference on Control, Automation and Systems
ページ557-561
ページ数5
出版ステータスPublished - 2010 12 1
イベントInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
継続期間: 2010 10 272010 10 30

出版物シリーズ

名前ICCAS 2010 - International Conference on Control, Automation and Systems

Conference

ConferenceInternational Conference on Control, Automation and Systems, ICCAS 2010
国/地域Korea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学

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