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 publicationProceedings of the SICE Annual Conference
Pages155-159
Number of pages5
Publication statusPublished - 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

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

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Keywords

  • Environmental Map
  • Mobile Robot
  • Path Planning

ASJC Scopus subject areas

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

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 Proceedings of the SICE Annual Conference (pp. 155-159). [6318425]