Multimodal path planning using potential field for human–robot interaction

Yosuke Kawasaki, Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution

抄録

In a human–robot interaction, a robot must move to a position where the robot can obtain precise information of people, such as positions, postures, and voice. This is because the accuracy of human recognition depends on the positional relation between the person and robot. In addition, the robot should choose what sensor data needs to be focused on during the task that involves the interaction. Therefore, we should change a path approaching the people to improve human recognition accuracy for ease of performing the task. Accordingly, we need to design a path-planning method considering sensor characteristics, human recognition accuracy, and the task contents simultaneously. Although some previous studies proposed path-planning methods considering sensor characteristics, they did not consider the task and the human recognition accuracy, which was important for practical application. Consequently, we present a path-planning method considering the multimodal information which fusion the task contents and the human recognition accuracy simultaneously.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
編集者Rüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
出版社Springer Verlag
ページ597-609
ページ数13
ISBN(印刷版)9783030013691
DOI
出版ステータスPublished - 2019
イベント15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
継続期間: 2018 6月 112018 6月 15

出版物シリーズ

名前Advances in Intelligent Systems and Computing
867
ISSN(印刷版)2194-5357

Other

Other15th International Conference on Intelligent Autonomous Systems, IAS 2018
国/地域Germany
CityBaden-Baden
Period18/6/1118/6/15

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンス(全般)

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