Control of Accompanying Movement of Autonomous Mobile Robot Based on Hand Joining Potential

DOI Web Site

Bibliographic Information

Other Title
  • 人に同行する自律移動ロボットにおける手つなぎポテンシャルを用いた移動制御(学生研究発表会)
  • 人に同行する自律移動ロボットにおける手つなぎポテンシャルを用いた移動制御
  • ヒト ニ ドウコウ スル ジリツ イドウ ロボット ニ オケル テツナギ ポテンシャル オ モチイタ イドウ セイギョ

Search this article

Abstract

This paper proposes a hand joining potential based control method for an autonomous mobile robot which accompanies a user. A hand joining potential is designed by optimizing an artificial potential method to accompanying movement. A robot moves side-by-side with a user in the normal situation, and changes to a cascade position for avoiding obstacles. Attractive potentials are set on both left and right sides of an accompanying person and their locations are changed according to the position of an accompanying person and conditions of surroundings. Using the proposed method, the mobile robot can autonomously changes parallel and cascade positions with a user without resetting the parameters under complex environments. The simulation results are shown to prove the efficiency of the proposed method, in which the collision with an oncoming person or a passing person is avoided by the robot naturally.

Journal

  • ITE Technical Report

    ITE Technical Report 38.9 (0), 33-36, 2014

    The Institute of Image Information and Television Engineers

Keywords

Details 詳細情報について

Report a problem

Back to top