| 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 |
| Download PDF |
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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) |
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| 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) |
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| Keyword(1) |
Autonomous Mobile Robot |
| Keyword(2) |
Dynamic Environment |
| Keyword(3) |
Potential Field Method |
| Keyword(4) |
Velocity of Pedestrians |
| Keyword(5) |
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| 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 |
| #Pages |
4 |
| Date of Issue |
2010-02-20 (ME) |