Movement Control of Accompanying Robot Based on Artificial Potential Field Adapted to Dynamic Environments

DOI Web Site 4 References
  • NAKAZAWA Kazushi
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • TAKAHASHI Keita
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • KANEKO Masahide
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications

Bibliographic Information

Other Title
  • 動的環境に適応したポテンシャル場の生成に基づく並走・縦走ロボットの移動制御(学生研究発表会)
  • 動的環境に適応したポテンシャル場の生成に基づく並走・縦走ロボットの移動制御
  • ドウテキ カンキョウ ニ テキオウ シタ ポテンシャルジョウ ノ セイセイ ニ モトズク ヘイソウ ・ ジュウソウ ロボット ノ イドウ セイギョ

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Abstract

Our research is focused on mobile robots that can accompany a person, and this paper addresses how to control the relative position of the robot to the accompanied person according to the dynamic environment. The robot is expected to move side-by-side with the person in the normal situation, but the position in front or behind the person might be better if there are some obstacles. The shape of the artificial potential field of the accompanied person is devised to smoothly control the robot position in a unified way. Laplace potential method is also used supplementary to cope with extremely cluttered environments. Simulations and experiments in real space show the usefulness of the proposed method.

Journal

  • ITE Technical Report

    ITE Technical Report 37.7 (0), 67-70, 2013

    The Institute of Image Information and Television Engineers

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