Title :
Motion coordination in dynamic environments: reaching a moving goal while avoiding moving obstacles
Author :
Kluge, Boris ; Bank, Dirk ; Prassler, Erwin
Author_Institution :
Res. Inst. for Appl. Knowledge Process., Ulm, Germany
Abstract :
In this paper we describe the problem of coordinating the motion of a mobile robot with a moving guide in dynamic, continuously changing environments, and present an approach to this problem based on velocity obstacles. As a test application, the approach has been implemented on a robotic wheelchair, which is thus enabled to accompany a person through the concourse of a railway station or a pedestrian area.
Keywords :
man-machine systems; mobile robots; path planning; dynamic environments; human robot interaction; mobile robot; motion coordination; moving goal; moving guide; moving obstacles; pedestrian area; railway station; robot motion planning; robotic wheelchair; velocity obstacles; Communication channels; Hospitals; Human robot interaction; Mobile robots; Rail transportation; Robot kinematics; Robot motion; Testing; Tracking; Wheelchairs;
Conference_Titel :
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN :
0-7803-7545-9
DOI :
10.1109/ROMAN.2002.1045673
