1P1-B13 人物追従ロボット実現のためのオンライン経路計画

概要

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The purpose of this research is to develop an on-line person following method for a mobile robot. The robot generates a robot-centered local map describing dynamic and static objects and plans a safe path. We set the position of the person to follow as a goal position, and other objects are considered obstacles. The skeleton of the current free space in the local map is calculated, and then a potential field is calculated such that the potential increases towards the goal position along the skeleton. Finally, a path is generated by a kinodynamic motion planner which uses the potential with consideration of the kinematic and the dynamic constraints of the robot. Since dynamic objects continuously move, a path is replanned as new sensor data arrive. We use a laser range finder and a stereo camera for detecting static and dynamic objects, respectively, in the experiments. We have succeeded in making the robot follow a target person among various dynamic environments.
一般社団法人日本機械学会の論文
2009-05-25