Path planning to respect human movements based on human frequency map for a mobile robot

Kimiko Motonaka, Shoichi Maeyama, Keigo Watanabe

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

A path planning is studied for a mobile robot that works in a living environment. If the robot moves in the living environment, then the robot has to achieve the path planning so as to care about the persons as well as recognize the environment. Assume here that sensors are distributed in the environmental side, and human's walking is observed. The human's walking route is safe and easier to move for the robot because the human avoids obstacles or selects the efficient route. Thus, in this research, observed human positions are used for the path planning of the robot. Then, a "Human Frequency Map (HFM)" is proposed, where it is a grid map based on the observed human position and frequency in a term. In addition to the current position of human, the possibility of encountering human and the width of passage can be considered to perform a path planning by using the HFM.

Original languageEnglish
Pages1121-1126
Number of pages6
Publication statusPublished - Dec 1 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

Keywords

  • Environmental map
  • Human observation
  • Mobile robot
  • Path planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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  • Cite this

    Motonaka, K., Maeyama, S., & Watanabe, K. (2010). Path planning to respect human movements based on human frequency map for a mobile robot. 1121-1126. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.