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Paper Abstract and Keywords
Presentation 2010-02-27 10:00
Flexible Autonomous Mobile Robot in Living Spaces Estimating Dynamic States of Surrounding Pedestrians
Masaya Suzuki, Jun-ichi Imai, Masahide Kaneko (UEC)
Abstract (in Japanese) (See Japanese page) 
(in English) Mobile robots in living spaces for humans are required to recognize their surroundings well to avoid collisions with pedestrians. In this paper, we propose an autonomous robot which can move safely in such dynamic environments. The proposed robot can recognize surrounding pedestrians’ and its own positions in the environment using distance information obtained by a laser range finder. Furthermore, positions of the pedestrians at the next time step are predicted by Kalman filter. Then, routing decision is made by using the potential field method whose repulsion field is decided with consideration for velocities of the pedestrians. Experimental results show that the proposed robot can move to its destination without a collision with pedestrians.
Keyword (in Japanese) (See Japanese page) 
(in English) Autonomous Mobile Robot / Dynamic Environment / Potential Field Method / Velocity of Pedestrians / / / /  
Reference Info. ITE Tech. Rep., vol. 34, no. 10, ME2010-49, pp. 1-4, Feb. 2010.
Paper # ME2010-49 
Date of Issue 2010-02-20 (ME) 
ISSN Print edition: ISSN 1342-6893
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Conference Information
Committee ME  
Conference Date 2010-02-27 - 2010-02-27 
Place (in Japanese) (See Japanese page) 
Place (in English) Kanto Gakuin Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To ME 
Conference Code 2010-02-ME 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Flexible Autonomous Mobile Robot in Living Spaces Estimating Dynamic States of Surrounding Pedestrians 
Sub Title (in English)  
Keyword(1) Autonomous Mobile Robot  
Keyword(2) Dynamic Environment  
Keyword(3) Potential Field Method  
Keyword(4) Velocity of Pedestrians  
1st Author's Name Masaya Suzuki  
1st Author's Affiliation The University of Electro-Communications (UEC)
2nd Author's Name Jun-ichi Imai  
2nd Author's Affiliation The University of Electro-Communications (UEC)
3rd Author's Name Masahide Kaneko  
3rd Author's Affiliation The University of Electro-Communications (UEC)
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Speaker Author-1 
Date Time 2010-02-27 10:00:00 
Presentation Time 15 minutes 
Registration for ME 
Paper # ME2010-49 
Volume (vol) vol.34 
Number (no) no.10 
Page pp.1-4 
Date of Issue 2010-02-20 (ME) 

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