書誌事項
- タイトル別名
-
- Collision Avoidance Control of Human-Symbiotic Robot
抄録
A real-time collision-avoidance algorithm for human-symbiotic robot that is required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot—called “EMIEW”—using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s - speed. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is less than 4 ms.
収録刊行物
-
- 日本機械学会論文集C編
-
日本機械学会論文集C編 77 (775), 1051-1061, 2011
一般社団法人 日本機械学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282681363357312
-
- NII論文ID
- 130000873812
-
- ISSN
- 18848354
- 03875024
-
- データソース種別
-
- JaLC
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可