DocumentCode :
1677020
Title :
Collision-avoidance algorithm for human-symbiotic robot
Author :
Hosoda, Yuji ; Yamamoto, Kenjirou ; Ichinose, Ryouko ; Egawa, Saku ; Tamamoto, Junichi ; Tsubouchi, Kouji ; Yuta, Shinichi
Author_Institution :
Mech. Eng. Res. Lab., Hitachi Ltd., Tsuchiura, Japan
fYear :
2010
Firstpage :
557
Lastpage :
561
Abstract :
A real-time collision-avoidance algorithm for human-symbiotic robots that are required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot-called EMIEW”-using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is a maximum of 4 ms.
Keywords :
collision avoidance; mobile robots; EMIEW robot; collision likelihood prediction; collision-avoidance algorithm; human-symbiotic robot; Algorithm design and analysis; Collision avoidance; Leg; Legged locomotion; Tracking; Trajectory; Collision-Avoidance; Human-Symbiotic Robot; Navigation; Obstacle;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
Type :
conf
Filename :
5669933
Link To Document :
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