Paper Info
Title
Human-Observation-Based Extraction of Path Patterns for Mobile Robot Navigation
Abstract
In this paper, a mobile robot navigation method based on the observation of human walking is presented. The proposed method extracts paths that are frequently used by human and builds a topological map of the environment from the observed human walking paths. Unlike the conventional methods, the proposed method enables us to generate paths which are practical, have no obstacles, and are natural for humans since the paths reflect the motion of persons. For realizing the human observation in a large area, in this paper, multiple vision sensors are placed in space. By using distributed sensors, people can be observed even when the robot is not near them or if they are hidden behind obstacles. Mobile robot navigation based on the topological map is also performed with the support of the distributed sensors. The global position of the mobile robot can be directly measured by using external sensors, which makes the localization problem much easier. Based on the position information, the mobile robot can follow the generated paths and reach the goal point while avoiding obstacles.
Year
DOI
Venue
2010
10.1109/TIE.2009.2030825
IEEE Transactions on Industrial Electronics
Keywords
Field
DocType
collision avoidance,image sensors,mobile robots,navigation,distributed sensors,human observation-based extraction,human walking,mobile robot navigation,multiple vision sensors,path pattern extraction,topological map,Human observation,intelligent space (iSpace),mobile robot navigation
Motion planning,Computer vision,Image sensor,Intelligent sensor,Intelligent robots,Control engineering,Topological map,Artificial intelligence,Mobile robot navigation,Engineering,Robot,Mobile robot
Journal
Volume
Issue
ISSN
57
4
0278-0046
Citations 
PageRank 
References 
11
0.79
27
Authors
3
Name
Order
Citations
PageRank
Takeshi Sasaki1161.40
Dra¿en Brscic2110.79
Hideki Hashimoto36810.43