Title :
Unified environment-adaptive control of accompanying robots using artificial potential field
Author :
Nakazawa, K. ; Takahashi, Koichi ; Kaneko, Makoto
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu, Japan
Abstract :
Our research is focused on mobile robots that can accompany a person, and this paper addresses how to control the relative position of the robot to the accompanied person according to the dynamic environment. The robot is expected to move side-by-side with the person in the normal situation, but the position in front or behind the person might be better if there are some obstacles. We devised the shape of the artificial potential field of the accompanied person to smoothly control the robot position in a unified way, and obtained favorable results via simulations.
Keywords :
adaptive control; mobile robots; path planning; position control; service robots; artificial potential field; dynamic environment; mobile robots; normal situation; relative robot position control; side-by-side movement; unified environment-adaptive control; Collision avoidance; Electric potential; Force; Mobile robots; Shape; Wheelchairs; accompanying robot; artificial potential field;
Conference_Titel :
Human-Robot Interaction (HRI), 2013 8th ACM/IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4673-3099-2
Electronic_ISBN :
2167-2121
DOI :
10.1109/HRI.2013.6483570
