Collision-avoidance algorithm for human-symbiotic robot
Collision-avoidance algorithm for human-symbiotic robot
复制标题
人机共生机器人避碰算法
DOI：
10.1109/iccas.2010.5669933
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
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作者：
Y. Hosoda;Kenjiro Yamamoto;Ryouko Ichinose;S. Egawa;J. Tamamoto;Kouji Tsubouchi;S. Yuta
提出了一种适用于人-共生机器人的实时避碰算法。一种预测与障碍物碰撞可能性的算法是基于移动机器人与多个障碍物之间的相对速度。提出了一种真实的实时生成到达目标的最优路径序列的算法。通过重复选择两条相切路径的操作来生成碰撞避免路径，这两条相切路径将路径上的经过点连接到相对空间中存在的每个障碍物的碰撞圆。一个名为“EMIEW”的机器人-使用这些算法和一个避免与许多障碍物碰撞的系统，以0.8 m/s的速度在一个以1.2 m/s行走的五人集群中移动。生成新避碰路径的重复周期为0.5s，每个周期内所开发算法的处理时间最大为4 ms。
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.