Path generation with human frequency map for a mobile robot and its path evaluation by using human movement simulations

Kimiko Motonaka, Shoichi Maeyama, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A robot requires any path planning to respect human movements when the robot works with the person in an environment. In this study, a path planning method that respects human movements is proposed for mobile robots working in a living environment. In this path planning, we use a "Human Frequency Map (HFM)" generated by using observed human positions in a sensor-distributed space. The robot can obtain information about path candidates to a goal, pathway width and high possibility areas of human encountering. In this paper, path planning that cares about the human encountering and the pathway width is shown to be performed by superposing the current human position on the HFM. In particular, a simulation is conducted for a case that the robot runs in a living environment with several sensors. Additionally, a path planning method based on using the HFM is compared with that based on not using the HFM to prove the availability of the HFM.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages1683-1688
Number of pages6
DOIs
Publication statusPublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: Dec 7 2011Dec 11 2011

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period12/7/1112/11/11

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ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Motonaka, K., Maeyama, S., & Watanabe, K. (2011). Path generation with human frequency map for a mobile robot and its path evaluation by using human movement simulations. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 1683-1688). [6181531] (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181531