A Study on the Mobile Robot which Passes a Man
A Study on the Mobile Robot which Passes a Man
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越人移动机器人的研究
DOI：
10.7210/jrsj.17.202
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
Y. Shiota
中科院分区：
文献类型：
--
作者：
M. Yoda;Y. Shiota
本研究旨在探讨人的回避动作及其在移动的机器人上的应用。回避动作包括人的通过的特征。这些特性是从以下实验的结果中获得的。首先，利用录像机记录了大量的人体超车动作，分析了自然环境下人体在道路上的避让动作。录像机记录的分析表明，有三种类型的人类回避运动通过。观察到的最常见的类型如下：受试者在完成传球后，返回到他开始回避运动之前的原始轨迹。然后，使用该运动类型在实验室中进行人的通过实验，以构建其算法。研究结果表明，人体避障运动具有两个主要特征：（1）避障轨迹与悬链线吻合较好;（2）避障过程中步行速度恒定。一个基本的人类回避算法构造使用这些结果。最后，研制了一种具有超声波测距系统的移动的机器人。该系统检测人与人之间的相对距离和相对速度，采用避碰运动算法实现机器人的过街运动。
The purpose of this study was to investigate avoidance motion of man and its applicability to a mobile robot. The avoidance motion includes characteristics of passing of humans. These characteristics were obtained from the results of the following experiments. Firstly, many human passing motions were recorded by VTR to analyze human avoidance motions under natural settings on the road. The analysis of the VTR recordings revealed that there were three types of human avoidance motion in passing. The most frequent type observed was as follows: The subject returned to the original locus he had before starting avoidance motion, after the subject had finished passing. Then, a human's passing experiment was conducted in a laboratory using the motion type for constructing an algorithm there of. The results showed that human avoidance motion in passing has two main characteristics; (1) the locus agrees well with the catenary, (2) the walking speed is constant in passing. A basic human avoidance algorithm was constructed using these results. Finally, a mobile robot having a distance measuring system with ultrasonic sensors was developed. The system detects relative distance and relative velocity of man, and the robot realizes passing motion using the avoidance motion algorithm.