TY - GEN
T1 - Path generation with human frequency map for a mobile robot and its path evaluation by using human movement simulations
AU - Motonaka, Kimiko
AU - Maeyama, Shoichi
AU - Watanabe, Keigo
PY - 2011/12/1
Y1 - 2011/12/1
N2 - A robot requires any path planning to respect human movements when the robot works with the person in an environment. In this study, a path planning method that respects human movements is proposed for mobile robots working in a living environment. In this path planning, we use a "Human Frequency Map (HFM)" generated by using observed human positions in a sensor-distributed space. The robot can obtain information about path candidates to a goal, pathway width and high possibility areas of human encountering. In this paper, path planning that cares about the human encountering and the pathway width is shown to be performed by superposing the current human position on the HFM. In particular, a simulation is conducted for a case that the robot runs in a living environment with several sensors. Additionally, a path planning method based on using the HFM is compared with that based on not using the HFM to prove the availability of the HFM.
AB - A robot requires any path planning to respect human movements when the robot works with the person in an environment. In this study, a path planning method that respects human movements is proposed for mobile robots working in a living environment. In this path planning, we use a "Human Frequency Map (HFM)" generated by using observed human positions in a sensor-distributed space. The robot can obtain information about path candidates to a goal, pathway width and high possibility areas of human encountering. In this paper, path planning that cares about the human encountering and the pathway width is shown to be performed by superposing the current human position on the HFM. In particular, a simulation is conducted for a case that the robot runs in a living environment with several sensors. Additionally, a path planning method based on using the HFM is compared with that based on not using the HFM to prove the availability of the HFM.
UR - http://www.scopus.com/inward/record.url?scp=84860728654&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84860728654&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2011.6181531
DO - 10.1109/ROBIO.2011.6181531
M3 - Conference contribution
AN - SCOPUS:84860728654
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 1683
EP - 1688
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -