Abstract
When mobile robots operate in home environments, a robot should consider the inhabitants while moving around. In this work, an approach is presented, which at the one hand predicts the movements of a person in a very simple way, and on the other hand uses the predicted movement to plan a motion path of the robot. We deploy a potential field approach to predict the person’s movement trajectory and use an modified Fast Marching planner to access a time-variable cost function for the planning process. The goal of our development is an early avoiding behavior of the robot, when the robot passes a person. This should increase the acceptance of the robot, and signal a “busy”-behavior. We show the feasibility of the presented approach in some first simulation results.
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Acknowledgments
This work was financed by the project AAL-2009-2-049 “Adaptable Ambient Living Assistant” (ALIAS) co-funded by the European Commission and the Federal Ministry of Education and Research (BMBF) in the Ambient Assisted Living (AAL) program.
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Kessler, J., Strobel, J., Gross, HM. (2012). Using a Spatio-Temporal FastMarching Planner to Politely Avoid Moving Persons. In: Levi, P., Zweigle, O., Häußermann, K., Eckstein, B. (eds) Autonomous Mobile Systems 2012. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32217-4_7
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DOI: https://doi.org/10.1007/978-3-642-32217-4_7
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