| Paper Abstract and Keywords |
| Presentation |
2014-02-22 14:15
Control of Accompanying Movement of Autonomous Mobile Robot Based on Hand Joining Potential
Takafumi Watanuki, Masahide Kaneko (UEC) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
This paper proposes a hand joining potential based control method for an autonomous mobile robot which accompanies a user. A hand joining potential is designed by optimizing an artificial potential method to accompanying movement. A robot moves side-by-side with a user in the normal situation, and changes to a cascade position for avoiding obstacles. Attractive potentials are set on both left and right sides of an accompanying person and their locations are changed according to the position of an accompanying person and conditions of surroundings. Using the proposed method, the mobile robot can autonomously changes parallel and cascade positions with a user without resetting the parameters under complex environments. The simulation results are shown to prove the efficiency of the proposed method, in which the collision with an oncoming person or a passing person is avoided by the robot naturally. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
Hand Joining / Accompanying / Autonomous Mobile Robot / Artificial Potential Method / / / / |
| Reference Info. |
ITE Tech. Rep., vol. 38, no. 9, ME2014-37, pp. 33-36, Feb. 2014. |
| Paper # |
ME2014-37 |
| Date of Issue |
2014-02-15 (ME) |
| ISSN |
Print edition: ISSN 1342-6893 |
| Download PDF |
|
| Conference Information |
| Committee |
ME |
| Conference Date |
2014-02-22 - 2014-02-22 |
| 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 |
2014-02-ME |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Control of Accompanying Movement of Autonomous Mobile Robot Based on Hand Joining Potential |
| Sub Title (in English) |
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| Keyword(1) |
Hand Joining |
| Keyword(2) |
Accompanying |
| Keyword(3) |
Autonomous Mobile Robot |
| Keyword(4) |
Artificial Potential Method |
| Keyword(5) |
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| 1st Author's Name |
Takafumi Watanuki |
| 1st Author's Affiliation |
The University of Electro-Communications (UEC) |
| 2nd Author's Name |
Masahide Kaneko |
| 2nd Author's Affiliation |
The University of Electro-Communications (UEC) |
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| Speaker |
Author-1 |
| Date Time |
2014-02-22 14:15:00 |
| Presentation Time |
15 minutes |
| Registration for |
ME |
| Paper # |
ME2014-37 |
| Volume (vol) |
vol.38 |
| Number (no) |
no.9 |
| Page |
pp.33-36 |
| #Pages |
4 |
| Date of Issue |
2014-02-15 (ME) |