Movement Control of Accompanying Robot Based on Artificial Potential Field Adapted to Dynamic Environments | Zendy

Nakazawa Kazushi | Zendy; Takahashi Keita | Zendy; Kaneko Masahide | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Premium

Movement Control of Accompanying Robot Based on Artificial Potential Field Adapted to Dynamic Environments

Author(s) -

Nakazawa Kazushi,

Takahashi Keita,

Kaneko Masahide

Publication year - 2015

Publication title -

electrical engineering in japan

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.136

H-Index - 28

eISSN - 1520-6416

pISSN - 0424-7760

DOI - 10.1002/eej.22724

Subject(s) - robot , position (finance) , mobile robot , artificial intelligence , computer science , movement (music) , computer vision , robot control , potential field , control (management) , simulation , field (mathematics) , engineering , control engineering , mathematics , physics , finance , acoustics , economics , geophysics , pure mathematics

SUMMARY This paper focuses on mobile robots that can accompany a person, that is, it addresses how to control the position of the robot relative to the accompanied person according to the dynamic environment. The robot is expected to move side by side with the person in a normal situation, but a position in front or behind the person might be better if there are obstacles. The shape of the artificial potential field of the accompanied person is devised to smoothly control the robot position in a unified way. The Laplace potential method is also used subsidiarily to cope with extremely cluttered environments. Simulations and experiments in real space show the usefulness of the proposed method.

This content is not available in your region!

Continue researching here.

Having issues? You can contact us here

Accelerating Research