Smooth collision avoidance in human-robot coexisting environment

In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian's behavior. Based on the estimati...

Full description

Saved in:
Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3887 - 3892
Main Authors Tamura, Y, Fukuzawa, T, Asama, H
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Collision avoidance
Force
Leg
Mobile robots
Robot kinematics
Trajectory
Online AccessGet full text
ISBN9781424466740
1424466741
ISSN2153-0858
DOI10.1109/IROS.2010.5649673

Cover

More Information
Summary:In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian's behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a human. A robot detects pedestrians by using a laser range finder and tracks them by a Kalman filter. We apply the social force model to the observed trajectory for a determination whether the pedestrian intends to avoid a collision with the robot or not. The robot selects an appropriate behavior based on the estimation results. We conducted experiments that a robot and a person pass each other. Through the experiments, the usefulness of the proposed method was demonstrated.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5649673