Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map

Kimiko Motonaka; Shoichi Maeyama; Keigo Watanabe

Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map

Kimiko Motonaka, Shoichi Maeyama, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A mobile robot used in home or office has to not only search the shortest path but also perform the path planning to respect human movement. In this study, several sensors are distributed in the environmental side, and humans walking route is observed. Then, we propose a "Human Frequency Map (HFM)" that is grid map based on the observed human position. By using the HFM, the proposed path planning can minimize the possibility for encountering human by considering the human frequency of a certain time zone and the current position of human. In this paper, we evaluate the usefulness of the information obtained from the HFM for the path planning in the case where the robot follows the specified person while avoiding the other persons.

Original language	English
Title of host publication	2012 Proceedings of SICE Annual Conference, SICE 2012
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	155-159
Number of pages	5
ISBN (Print)	9781467322591
Publication status	Published - Jan 1 2012
Event	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan Duration: Aug 20 2012 → Aug 23 2012

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Country/Territory	Japan
City	Akita
Period	8/20/12 → 8/23/12

Keywords

Environmental Map
Mobile Robot
Path Planning

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Cite this

Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map. / Motonaka, Kimiko; Maeyama, Shoichi; Watanabe, Keigo.
2012 Proceedings of SICE Annual Conference, SICE 2012. Society of Instrument and Control Engineers (SICE), 2012. p. 155-159 6318425 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Motonaka, K, Maeyama, S & Watanabe, K 2012, Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map. in 2012 Proceedings of SICE Annual Conference, SICE 2012., 6318425, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 155-159, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.

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AB - A mobile robot used in home or office has to not only search the shortest path but also perform the path planning to respect human movement. In this study, several sensors are distributed in the environmental side, and humans walking route is observed. Then, we propose a "Human Frequency Map (HFM)" that is grid map based on the observed human position. By using the HFM, the proposed path planning can minimize the possibility for encountering human by considering the human frequency of a certain time zone and the current position of human. In this paper, we evaluate the usefulness of the information obtained from the HFM for the path planning in the case where the robot follows the specified person while avoiding the other persons.

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Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map

Abstract

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Keywords

ASJC Scopus subject areas

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