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.

元の言語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
出版者Springer Verlag
ページ597-609
ページ数13
ISBN(印刷物)9783030013691
DOI
出版物ステータスPublished - 2019 1 1
イベント15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
継続期間: 2018 6 112018 6 15

出版物シリーズ

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

Other

Other15th International Conference on Intelligent Autonomous Systems, IAS 2018
Germany
Baden-Baden
期間18/6/1118/6/15

Fingerprint

Motion planning
Robots
Sensors
Information fusion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

これを引用

Kawasaki, Y., Yorozu, A., & Takahashi, M. (2019). Multimodal path planning using potential field for human–robot interaction. : R. Dillmann, E. Menegatti, S. Ghidoni, & M. Strand (版), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15 (pp. 597-609). (Advances in Intelligent Systems and Computing; 巻数 867). Springer Verlag. https://doi.org/10.1007/978-3-030-01370-7_47

Multimodal path planning using potential field for human–robot interaction. / Kawasaki, Yosuke; Yorozu, Ayanori; Takahashi, Masaki.

Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. 版 / Rüdiger Dillmann; Emanuele Menegatti; Stefano Ghidoni; Marcus Strand. Springer Verlag, 2019. p. 597-609 (Advances in Intelligent Systems and Computing; 巻 867).

研究成果: Conference contribution

Kawasaki, Y, Yorozu, A & Takahashi, M 2019, Multimodal path planning using potential field for human–robot interaction. : R Dillmann, E Menegatti, S Ghidoni & M Strand (版), Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. Advances in Intelligent Systems and Computing, 巻. 867, Springer Verlag, pp. 597-609, 15th International Conference on Intelligent Autonomous Systems, IAS 2018, Baden-Baden, Germany, 18/6/11. https://doi.org/10.1007/978-3-030-01370-7_47
Kawasaki Y, Yorozu A, Takahashi M. Multimodal path planning using potential field for human–robot interaction. : Dillmann R, Menegatti E, Ghidoni S, Strand M, 編集者, Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. Springer Verlag. 2019. p. 597-609. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-030-01370-7_47
Kawasaki, Yosuke ; Yorozu, Ayanori ; Takahashi, Masaki. / Multimodal path planning using potential field for human–robot interaction. Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. 編集者 / Rüdiger Dillmann ; Emanuele Menegatti ; Stefano Ghidoni ; Marcus Strand. Springer Verlag, 2019. pp. 597-609 (Advances in Intelligent Systems and Computing).
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