Movement Control of Accompanying Robot Based on Artificial Potential Field Adapted to Dynamic Environments
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- Nakazawa Kazushi
- The University of Electro-Communications
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- Takahashi Keita
- The University of Electro-Communications
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- Kaneko Masahide
- The University of Electro-Communications
Bibliographic Information
- Other Title
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- 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
Abstract
This paper focuses on mobile robots that can accompany a person, that is, it 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 subsidiarily to cope with extremely cluttered environments. Simulations and experiments in real space show the usefulness of the proposed method.
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 134 (2), 293-302, 2014
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679586276736
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- NII Article ID
- 130003391719
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- ISSN
- 13488155
- 03854221
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed