Autonomous Navigation Using Multimodal Potential Field to Initiate Interaction with Multiple People

Yosuke Kawasaki, Ayanori Yorozu, Masaki Takahashi

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

Abstract

In a human-robot interaction, a robot needs to move to a position where the robot can obtain high reliability data of people, such as positions, postures, and voice. This is because the human recognition reliability depends on the positional relation between the people and the robot. In addition, the robot should choose the sensor data which is necessary to perform the interaction task. Therefore, it is necessary to navigate the robot to the position to obtain the data for initiation of the interaction task. Accordingly, we need to design a path-planning method considering sensor characteristics, human recognition reliability, and task contents. Although previous studies proposed path-planning methods using an interaction potential considering sensor characteristics, they did not consider the task contents and the human recognition reliability, which are important for practical application and did not applied to interaction with multiple people. Consequently, we present a path-planning method considering the task contents and the human recognition reliability using multimodal potential field integrating these information. We verified effectiveness of the path-planning method for interaction with multiple people.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7654-7659
Number of pages6
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 2018 Dec 27
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: 2018 Oct 12018 Oct 5

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period18/10/118/10/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kawasaki, Y., Yorozu, A., & Takahashi, M. (2018). Autonomous Navigation Using Multimodal Potential Field to Initiate Interaction with Multiple People. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 7654-7659). [8594289] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594289