Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Key Technologies in Robot Assistants: Motion Coordination Between a Human and a Mobile Robot

  • Prassler, Erwin (Research Institute for Applied Knowledge Processing at the University) ;
  • Bank, Dirk (Research Institute for Applied Knowledge Processing at the University) ;
  • Kluge, Boris (Research Institute for Applied Knowledge Processing at the University)
  • Published : 2002.03.01
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Abstract

In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing. natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot's heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.

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References

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