Regular Papers
Transaction on Control Automation, and Systems Engineering 2002; 4(1): 56-61
© The International Journal of Control, Automation, and Systems
Key Technologies in Robot Assistants: Motion Coordination Between a Human and a Mobile Robot
In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot’s heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.
Keywords robot motion planning, motion coordination, dynamic environments, human-robot interaction
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Regular Papers
Transaction on Control Automation, and Systems Engineering 2002; 4(1): 56-61
Published online March 1, 2002
Copyright © The International Journal of Control, Automation, and Systems.
Key Technologies in Robot Assistants: Motion Coordination Between a Human and a Mobile Robot
Erwin Prassler/ Dirk Bank/Boris Kluge
Abstract
In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot’s heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.
Keywords: robot motion planning, motion coordination, dynamic environments, human-robot interaction
Vol. 23, No. 3, pp. 683~972
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