期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 82, 期 -, 页码 24-34出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.robot.2016.04.007
关键词
Holonomic mobile robot; Potential field; On-line path planning; Laser-scanner; Animal motion attributes; Dynamic environment
资金
- Hungarian Research Fund [OTKA K100951]
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.
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