This paper investigates a collision-free navigation algorithm for a mobile robot to work in daily environment which includes multiple walking people. The proposed algorithm consists of two main parts: recognizing walking people and collision-free path planning. For the recognition of randomly changing human walking motion, a people tracking method using laser range finder (LRF) is utilized. Robust people tracking could be achieved by embedding a new biped model with a walking frequency tracker, which can estimate the frequency of human walking motion and generate it continuously even in the case of no measurement owing to occlusion. For the other part, collision-free path planning, an iterative forecast and planning method with the concept of configuration space including space and time is employed. The position and velocity of walking people, given from people tracking algorithm, are exploited in path planning part as the information of obstacles that the robot have to avoid. The proposed method has been implemented on a real robot. It is also demonstrated with some experiments the tracking of multiple walking humans and robot navigation in indoor environment.
Thls paper describes the software architecture of the humanoid robot " EMIEW 2 . " 且 n order to increase e幵 iciency of software development of robotic and mechatronic systems , which often requires complicated software comprised of many real −time tasks running on multiple processors , the authors have developed a message −driven software component framework. The so 負ware of EMIEW 2 is colnprised of 28 software components such as motor
In order to support the short-distance transportation of the elderly or those with walking difficulties in the city, we are developing a single-passenger mobility-support robot "ROPITS", which runs on pedestrian road autonomously. In this paper, we introduce the ability to run the robot to any point specified in the map of the portable information terminal. Since the robot estimates the latitude and longitude of its location with high accuracy, it is capable of traveling to the point specified with a general map. We report the experimental result of the robot running in the Mobility Robot Experiment Special District in Tsukuba-city, where mobility robots can run on the public pedestrian road.
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