Safe Path Generation and Dynamic Obstacle Avoidance for Mobile Robot Considering Posterior Existence Probabilities of Humans in Occluded Area

DOI

Bibliographic Information

Other Title
  • 隠蔽領域での人間の事後存在確率を考慮した移動ロボットの安全な経路生成と動的障害物回避

Abstract

This paper proposes a safe path generation based on a gradient method, and obstacle avoidance in an occluded area which is invisible area for the mobile robot. The gradient method is most widely used method for path generation; however, it could be plausible that collision may occur with speedy invisible dynamic obstacles. Therefore, in this paper, occluded humans can be detected using sensor installed in the environment and posterior existence probabilities of humans are calculated to redefine the cost function of a gradient method. By using the redefined cost function, safe path taking into account dynamic obstacles′ posterior behaviors to the current states is generated. Experimental results with real robot show that the proposed scheme works successfully in the real environment.

Journal

Details

  • CRID
    1390282680634524928
  • NII Article ID
    130005472485
  • DOI
    10.11522/pscjspe.2014s.0_243
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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