3D X-Y-T space path planning for autonomous mobile robots considering dynamic constraints

Ippei Nishitani, Tetsuya Matsumura, Mayumi Ozawa, Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

An autonomous mobile robot in a human living space should be able to not only realize collision-free motion but also give way to humans depending on the situation. Although various reactive obstacle avoidance methods have been proposed, it is difficult to achieve such motion. On the other hand, 3D X-Y-T space path planning, which takes into account the motion of both the robot and the human in a look-ahead time horizon, is effective. This paper proposes a real-time obstacle avoidance method for an autonomous mobile robot that considers the robot's dynamic constraints, the personal space, and human directional area based on grid-based 3D X-Y-T space path planning. The proposed method generates collision-free motion in which the robot can yield to humans. To verify the effectiveness of the proposed method, various experiments in which the human's position and velocity were estimated using laser range finders were carried out.

Original languageEnglish
Title of host publicationMechanical Design and Power Engineering
Pages1163-1167
Number of pages5
DOIs
Publication statusPublished - 2014 Feb 20
Event2013 2nd International Conference on Mechanical Design and Power Engineering, ICMDPE 2013 - Beijing, China
Duration: 2013 Nov 292013 Nov 30

Publication series

NameApplied Mechanics and Materials
Volume490-491
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other2013 2nd International Conference on Mechanical Design and Power Engineering, ICMDPE 2013
CountryChina
CityBeijing
Period13/11/2913/11/30

Keywords

  • Dynamic constraints
  • Mobile robot
  • Obstacle avoidance
  • Path planning
  • Personal space

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Nishitani, I., Matsumura, T., Ozawa, M., Yorozu, A., & Takahashi, M. (2014). 3D X-Y-T space path planning for autonomous mobile robots considering dynamic constraints. In Mechanical Design and Power Engineering (pp. 1163-1167). (Applied Mechanics and Materials; Vol. 490-491). https://doi.org/10.4028/www.scientific.net/AMM.490-491.1163