NDLI: Mobile robot path planning using human prediction model based on massive trajectories

Content Provider	IEEE Xplore Digital Library
Author	Noguchi, H. Yamada, T. Mori, T. Sato, T.
Copyright Year	2012
Description	Author affiliation: Department of Mechano-Informatics, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656 Japan (Yamada, T.; Sato, T.) \|\| Department of Life Support Technology (Molten), The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033 Japan (Noguchi, H.; Mori, T.)
Abstract	We propose global path planning method for mobile robot to avoid human based on massive human movement trajectories. Our method measures trajectories using multiple networked LIDARs in a long term. The captured trajectories are symbolized to grid cell sequences in a time unit. The symbol sequences are modeled by Variable Length Markov Model (VLMM). The method calculates human existence probability at every locations in the future time from the passed trajectory based on the learnt model. Finally, the method plans mobile robot path globally under x-y-t configuration space including human presence probabilities. These mechanisms realize flexible and safety human avoidance of mobile robot. We accumulated human trajectories during approx. 1.5 month and confirmed our method planned path more safety than the method using uniform motion model prediction.
Starting Page	1
Ending Page	7
File Size	1175987
Page Count	7
File Format	PDF
ISBN	9781467317849
e-ISBN	9781467317863
e-ISBN	9781467317856
DOI	10.1109/INSS.2012.6240547
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-11
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Hidden Markov models Predictive models Trajectory Mobile robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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