NDLI: Smooth collision avoidance in human-robot coexisting environment

Content Provider	IEEE Xplore Digital Library
Author	Tamura, Y. Fukuzawa, T. Asama, H.
Copyright Year	2010
Description	Author affiliation: Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Japan (Tamura, Y.; Fukuzawa, T.; Asama, H.)
Abstract	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.
Starting Page	3887
Ending Page	3892
File Size	1681702
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649673
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision avoidance Robot kinematics Leg Trajectory Mobile robots Force
Content Type	Text
Resource Type	Article

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