Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map

Kimiko Motonaka, Shoich Maeyama, Keigo Watanabe

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

1 Citation (Scopus)

Abstract

A mobile robot used in home or office has to not only search the shortest path but also perform the path planning to respect human movement. In this study, several sensors are distributed in the environmental side, and humans walking route is observed. Then, we propose a "Human Frequency Map (HFM)" that is grid map based on the observed human position. By using the HFM, the proposed path planning can minimize the possibility for encountering human by considering the human frequency of a certain time zone and the current position of human. In this paper, we evaluate the usefulness of the information obtained from the HFM for the path planning in the case where the robot follows the specified person while avoiding the other persons.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages155-159
Number of pages5
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Keywords

  • Environmental Map
  • Mobile Robot
  • Path Planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map'. Together they form a unique fingerprint.

  • Cite this

    Motonaka, K., Maeyama, S., & Watanabe, K. (2012). Proposal of path planning for a mobile robot to respect human movements in dynamic environments by using a human frequency map. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 155-159). [6318425] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).