Influence of path curvature on collision avoidance behaviour between two walkers

Lynch, Sean; Kulpa, Richard; Meerhoff, Laurentius Antonius; Sorel, Anthony; Pettré, Julien; Olivier, Anne-Hélène

doi:10.1007/s00221-020-05980-y

Cited by 8 publications

(4 citation statements)

References 37 publications

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“…According to the man-machine relative distance, relative motion direction, relative position, and relative speed factors in the shared space environment, adopts empirical method and heuristic method to divide the behavior of human (or interfering body) into four typical types [29]: crossing pattern, encountering pattern, leading pattern and confronting pattern. According to different typical behavior patterns, the robot follows the corresponding rules to ensure safety and does not invade sensitive areas.…”

Section: Behavioral Pattern Analysismentioning

confidence: 99%

A Mobile Robot Combination Autonomous Behavior Strategy Inspects Hazardous Gases in Relatively Narrow Man-Machine environment

Gao¹,

Zhang²,

Lan³

et al. 2021

Preprint

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Compared with the public inspection places like airports, squares, and waiting halls, places such as laboratories, warehouses are generally relatively narrow, and humans may suddenly appear in the passages. Once a hazardous or toxic gas leak occurs in such spaces, it will cause a wide range of casualties and immeasurable economic losses. To ensure the safety of personal and property, realize real-time monitoring in unattended or dangerous situations, a robot moving mechanism with an effective and practical autonomous behavior strategy is proposed in this paper. Firstly, a mobile robot equipped with a hazardous gases detector and a high-definition (HD) industrial camera is designed, which can be controlled remotely or work autonomously. Next, a fixed-point and a fixed-trajectory method is adopted to avoidance: establish the social force model; study the human's (interfering object's) typical behavior patterns; based on Fuzzy thinking, a dynamic obstacle avoidance strategy is presented, and combine the dynamic obstacle avoidance strategy, a combination autonomous behavior strategy with a Fuzzy-PID controller is proposed. Finally, the crossing pattern and encountering pattern simulations and experiments results show that the robot can realize the dynamic obstacle avoidance in a relatively narrow man-machine environment smoothly and always maintain a sufficient safety distance to reduce the "sense of crisis" humans towards the robot. The trajectory experiments in such spaces verify that when the robot deviates from the predetermined position during inspection operations, the combination autonomous behavior strategy can help the robot return to the target trajectory. Furthermore, compared with the PID control method, the robot position error up to 0.098m, the angle error up to 0.088rad, the Fuzzy-PID controller is more stable, accurate, and fast, which draws the stability and reliability of the strategy.

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Section: Behavioral Pattern Analysismentioning

confidence: 99%

A Mobile Robot Combination Autonomous Behavior Strategy Inspects Hazardous Gases in Relatively Narrow Man-Machine environment

Gao¹,

Zhang²,

Lan³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…We used a real AMR as the obstacle and recruited human participants living in an area under the left-sided traffic rule. We expected that using a physical AMR would realistically elicit human behavior similar to the actual situation without limiting the field of view often associated with virtual reality [3,8,9,20,21]. Specifically, we ran an experiment to verify how humans avoid the AMR approaching from five directions, including head-on.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, a previous study discussed the techniques used by humans to avoid such dynamic obstacles approaching from an orthogonal direction (Basili et al, 2013; Olivier et al, 2013) and crossing paths (Bühler & Lamontagne, 2019; Souza Silva et al, 2018). In addition, several studies have replicated these real-world paradigms in virtual reality (Bühler & Lamontagne, 2019; Hackney et al, 2020; Lynch et al, 2018, 2021; Souza Silva et al, 2018) because the complete evasion of a possible physical collision and an increase in the number of variables of the experiment (such as adding human walkers in the environment) are beneficial for the participants.…”

Section: Introductionmentioning

confidence: 99%

Waist rotation angle as an indicator of probable human collision avoidance direction for autonomous mobile robots

Tamura

Yamauchi

Nakauchi

et al. 2022

Preprint

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Background: As urban development toward smart cities continues in earnest, pedestrians' chances of encountering autonomous mobile robots (AMRs) on the street increase. Although recent studies have discussed how humans avoid collisions with others when passing them, it is still unclear how they would avoid AMRs, which could be common on the streets soon. Research question: We investigated humans' avoidance strategy against an AMR approaching head-on through an experiment that included recording human-body motions while walking. Method: The AMR approached from various starting points, including directly from the participants. The participants were asked to circumvent it by moving rightward or leftward while their walking trajectories were tracked. Result: We found no significant bias on either side, suggesting that the avoidance direction is not simply determined by the participants' attributes, such as the traffic rules followed in their area of living. The probability of rightward avoidance when the AMR approached head-on indicated that the humans had different avoidance strategy when facing other humans and objects. Moreover, the participants' motion analysis revealed that their waists unconsciously twisted in the direction of avoidance before they circumvented. Significance: The results suggest that the human-waist provides an indicator to predict the avoidance direction. Our findings could be adopted in AMRs' development to fit them more naturally into our lives.

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“…Social power model5.1.2 Behavioral pattern analysisAccording to the man-machine relative distance, relative motion direction, relative position and relative speed factors in the shared space environment, adopts empirical method andheuristic method to divide the behavior of human (or interfering body) into four types[28]: crossing, encountering, leading and confronting typical mode. According different typical behavior patterns, the robot follows the corresponding rules to ensure safety and does not invade sensitive areas.1) Crossing behavior.…”

mentioning

confidence: 99%

Combination Strategy of Dynamic Obstacle-Avoidance and Autonomous Tracking for Hazardous Gases Inspection Robot in Man-Machine Environment

Zhang

Gao

Lan

et al. 2021

Preprint

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A variety of toxic and hazardous gases exist in many working or storage environments, and once a leak occurs, it will cause a wide range of casualties and immeasurable economic losses. To improve the timeliness and flexibility of the inspection equipment in a man-machine hybrid environment, this research provides an effective and practical method to improving the autonomous behavior strategy of robots in complex environments. The team designs a mobile inspection robot used to inspect hazardous gas which can be controlled remotely or inspect dangerous gas independently first, the robot is controlled by a host computer through a hybrid architecture control system mainly composed by Micro Controller Unit (MCU), Raspberry Pi based on Wi-Fi formed by a wireless router. The robot uses the hub motors as the driving wheels, equipped with multiple sensors and cameras to complete forward and backward, turning, possesses target tracking, obstacle avoidance and real-time image transmission functions softly. Based on the robot kinematic model built, this paper studies the interfering objects four typical behavior patterns, establishes a social force model to guide the robot behavioral decision-making under dynamic obstacles. To verify the effectiveness of the combination motion strategy, Matlab is used to establish a shared environment space, trajectory simulation of the state of human crossing behavior and encounter behavior, and the speed change trend of the mobile robot is recorded. Combines the dynamic obstacle avoidance strategy presented based on fuzzy thinking, an autonomous tracking strategy by adopting Fuzzy-PID controller is proposed, the experiments under fixed trajectory indoors verifies that when the robot deviates from the predetermined trajectory during inspection operations, the Fuzzy-PID control system can effectively help the robot return to the target trajectory, which the PTZ is stable and the video image is clear and the frame rate is more than 10 frames per second shows the good inspection performance. The results of simulation and test are similar, and the robot position error up to 10mm, the angle error up to 0.1 rad, which draws the reliability and accuracy of the inspection method,. And the robot can fast responsive, the small-scale time delay of the speed change does not affect the obstacle avoidance effectiveness, the robot and human will always maintain a sufficient safety distance to reduce the "sense of crisis" that humans towards to the robot.

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Influence of path curvature on collision avoidance behaviour between two walkers

Cited by 8 publications

References 37 publications

A Mobile Robot Combination Autonomous Behavior Strategy Inspects Hazardous Gases in Relatively Narrow Man-Machine environment

A Mobile Robot Combination Autonomous Behavior Strategy Inspects Hazardous Gases in Relatively Narrow Man-Machine environment

Waist rotation angle as an indicator of probable human collision avoidance direction for autonomous mobile robots

Combination Strategy of Dynamic Obstacle-Avoidance and Autonomous Tracking for Hazardous Gases Inspection Robot in Man-Machine Environment

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