Unified environment-adaptive control of accompanying robots using artificial potential field
- Resource Type
- Conference
- Authors
- Nakazawa, Kazushi; Takahashi, Keita; Kaneko, Masahide
- Source
- 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI) Human-Robot Interaction (HRI), 2013 8th ACM/IEEE International Conference on. :199-200 Mar, 2013
- Subject
- Robotics and Control Systems
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Mobile robots
Force
Shape
Collision avoidance
Wheelchairs
Electric potential
artificial potential field
accompanying robot
- Language
- ISSN
- 2167-2121
2167-2148
Our research is focused on mobile robots that can accompany a person, and this paper addresses how to control the relative position of the robot to the accompanied person according to the dynamic environment. The robot is expected to move side-by-side with the person in the normal situation, but the position in front or behind the person might be better if there are some obstacles. We devised the shape of the artificial potential field of the accompanied person to smoothly control the robot position in a unified way, and obtained favorable results via simulations.