Transactions on Control, Automation and Systems Engineering

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Key Technologies in Robot Assistants: Motion Coordination Between a Human and a Mobile Robot

  • Prassler, Erwin (Research Institute for Applied Knowledge Processing at the University) ;
  • Bank, Dirk (Research Institute for Applied Knowledge Processing at the University) ;
  • Kluge, Boris (Research Institute for Applied Knowledge Processing at the University)
  • 발행 : 2002.03.01
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초록

In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing. natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot's heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.

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참고문헌

  1. IEEE Workshop on robot human interaction
  2. First Europe-Japan symposium on human-friendly robotics
  3. Tracking and data association Y. Bar-Shlom;T. E. Fortmann
  4. Int. Journal on Robotics Research v.17 no.7 Motion planning in dynamic environments using velocity obstacles P. Fiorini;Z. Shiller
  5. Proc. IEEE Int. Workshop on Robot and Human Communication Cooperative motion control of a robot and a human R. Ikeura;H. Monden;H. Inooka
  6. Proc. 1999 IEEE Int. Conf. on Robotics and Automation ICRA'99 Interactions and motions in human-robot coordination J. Y. S. Luh;S. Hu
  7. Stochastic models, estimation and control P. S. Maybeck
  8. Int. Journal on Robotics Research v.18 no.7 Navigating a robotic wheelchair in a railway station during rush hour E. Prassler;J. Scholz;P. Fiorini https://doi.org/10.1177/02783649922066448
  9. Proc. British Machine Vision Conf. v.2 Vision based person tracking with a mobile robot C. Schlegel;J. Illmann;H. Jaberg;R. Worz
  10. Proc. 1999 IEEE Int. Conf. on Robotics and Automation ICRA'99 A person following behavior for a mobile robot H. Sidenbladh;D. Kragic;H. I. Christensen