Collision-avoidance algorithm for human-symbiotic robot
A real-time collision-avoidance algorithm for human-symbiotic robots that are 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 th...
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| creator | Hosoda, Yuji Yamamoto, Kenjirou Ichinose, Ryouko Egawa, Saku Tamamoto, Junichi Tsubouchi, Kouji Yuta, Shinichi |
| description | A real-time collision-avoidance algorithm for human-symbiotic robots that are 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. 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 a maximum of 4 ms. |
| doi_str_mv | 10.1109/ICCAS.2010.5669933 |
| format | Conference Proceeding |
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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. 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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 a maximum of 4 ms.</description><subject>Algorithm design and analysis</subject><subject>Collision avoidance</subject><subject>Human-Symbiotic Robot</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Navigation</subject><subject>Obstacle</subject><subject>Tracking</subject><subject>Trajectory</subject><isbn>1424474531</isbn><isbn>9781424474530</isbn><isbn>8993215022</isbn><isbn>9788993215021</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj81qwzAQhFVKoU2aF2gvfgGnWq1k2cdg-hMI9NDkHNbyqlGxrSK7hbx9Dc1cPuY7DIwQDyDXALJ62tb15mOt5NxNUVQV4pVYlDMVGKnUtViAVlpbbRBuxWocv-QcoyyWcCdsHbsujCEOOf3G0NLgOKPuM6YwnfrMx5Sdfnoa8vHcNyFOwWUpNnG6FzeeupFXFy7F4eV5X7_lu_fXbb3Z5QFMMeWkJDJpbJVtZVXOznpnGdF70tw4Lwt0rZcEBkAhkHey9OyYSgYFgEvx-L8bmPn4nUJP6Xy8HMU_x6dHxw</recordid><startdate>201010</startdate><enddate>201010</enddate><creator>Hosoda, Yuji</creator><creator>Yamamoto, Kenjirou</creator><creator>Ichinose, Ryouko</creator><creator>Egawa, Saku</creator><creator>Tamamoto, Junichi</creator><creator>Tsubouchi, Kouji</creator><creator>Yuta, Shinichi</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201010</creationdate><title>Collision-avoidance algorithm for human-symbiotic robot</title><author>Hosoda, Yuji ; Yamamoto, Kenjirou ; Ichinose, Ryouko ; Egawa, Saku ; Tamamoto, Junichi ; Tsubouchi, Kouji ; Yuta, Shinichi</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i156t-a203ea43d27d0981567fc7e33ffa4ebcf063cdf0a1511231afc08fecea8e12113</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng ; jpn</language><creationdate>2010</creationdate><topic>Algorithm design and analysis</topic><topic>Collision avoidance</topic><topic>Human-Symbiotic Robot</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Navigation</topic><topic>Obstacle</topic><topic>Tracking</topic><topic>Trajectory</topic><toplevel>online_resources</toplevel><creatorcontrib>Hosoda, Yuji</creatorcontrib><creatorcontrib>Yamamoto, Kenjirou</creatorcontrib><creatorcontrib>Ichinose, Ryouko</creatorcontrib><creatorcontrib>Egawa, Saku</creatorcontrib><creatorcontrib>Tamamoto, Junichi</creatorcontrib><creatorcontrib>Tsubouchi, Kouji</creatorcontrib><creatorcontrib>Yuta, Shinichi</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hosoda, Yuji</au><au>Yamamoto, Kenjirou</au><au>Ichinose, Ryouko</au><au>Egawa, Saku</au><au>Tamamoto, Junichi</au><au>Tsubouchi, Kouji</au><au>Yuta, Shinichi</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Collision-avoidance algorithm for human-symbiotic robot</atitle><btitle>ICCAS 2010</btitle><stitle>ICCAS</stitle><date>2010-10</date><risdate>2010</risdate><spage>557</spage><epage>561</epage><pages>557-561</pages><isbn>1424474531</isbn><isbn>9781424474530</isbn><eisbn>8993215022</eisbn><eisbn>9788993215021</eisbn><abstract>A real-time collision-avoidance algorithm for human-symbiotic robots that are 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. 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 a maximum of 4 ms.</abstract><pub>IEEE</pub><doi>10.1109/ICCAS.2010.5669933</doi><tpages>5</tpages></addata></record> |
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| identifier | ISBN: 1424474531 |
| ispartof | ICCAS 2010, 2010, p.557-561 |
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| language | eng ; jpn |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Algorithm design and analysis Collision avoidance Human-Symbiotic Robot Leg Legged locomotion Navigation Obstacle Tracking Trajectory |
| title | Collision-avoidance algorithm for human-symbiotic robot |
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