Paper Info
Title
Control Method Of A Personal Vehicle On Cooperation Movement With A Companion Second Report: Inducing Its Companion To Take A Suitable Path For Cooperative Movement
Abstract
One of the important tasks for a personal vehicle is accompanying a human partner. In our previous works, we discussed how the vehicle should lead its partner, or follow its partner according to their relative position and environmental conditions for a cooperative movement when they entered into narrow space. This study, next, aims to develop a method of a path planning in the case that the personal vehicle cooperatively moves with a human partner in a position where they can communicate comfortably after they passed a narrow environment, where only one person can go through at once. To achieve this objective, we propose the model that enables a personal vehicle and its partner to move cooperatively based on a Social Force Model and installs it in our prototype robotic wheelchair. To realize this model, we analyzed the relative position of couples of pedestrians through preliminary experiment and investigated the condition which is necessary to estimated partner's intention from their position. Its effectiveness is verified by experiments with our prototype.
Year
Venue
Keywords
2017
2017 IEEE 26TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE)
Companion service robot, Trigger position, Personal mobility vehicle, Omni-directional vehicle, Cooperative movement
Field
DocType
ISSN
Motion planning,Wheelchair,Social force model,Robot kinematics,Control engineering,Engineering
Conference
2163-5137
Citations 
PageRank 
References 
0
0.34
5
Authors
4
Name
Order
Citations
PageRank
Sho Takagawa100.34
Daisuke Chugo25034.08
Satoshi Muramatsu31012.87
Hiroshi Hashimoto42927.81