Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 82, Issue -, Pages 24-34Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/j.robot.2016.04.007
Keywords
Holonomic mobile robot; Potential field; On-line path planning; Laser-scanner; Animal motion attributes; Dynamic environment
Funding
- Hungarian Research Fund [OTKA K100951]
Ask authors/readers for more resources
This paper presents a concept for path planning of mobile robots in household environments. The proposed algorithm takes communicative means of locomotion into account in order to facilitate human-robot interaction. The well-known traditional artificial potential field method (APF) was extended by motion characteristics of household animals. The proposed algorithm includes velocity and orientation information and can be used in unknown; dynamic environments. The main contribution of this paper is the definition of an online, local path planning method by adapting animal motion attributes in order to assist human-robot interaction. The algorithm was implemented in an embedded system and evaluated on MOGI-ETHON, a holonomic drive mobile robot. (C) 2016 Elsevier B.V. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available