Open AccessObstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model
Author(s) -
Ali Sadiyoko,
Bambang Riyanto Trilaksono,
Kusprasapta Mutijarsa,
Widyawardana Adiprawita
Publication year - 2015
Publication title -
journal of mechatronics, electrical power, and vehicular technology
Language(s) - English
Resource type - Journals
eISSN - 2088-6985
pISSN - 2087-3379
DOI - 10.14203/j.mev.2015.v6.67-74
Subject(s) - obstacle , social force model , collision avoidance , pedestrian , robot , humanoid robot , obstacle avoidance , computer science , artificial intelligence , position (finance) , collision , feature (linguistics) , simulation , computer vision , mobile robot , engineering , computer security , geography , linguistics , philosophy , archaeology , finance , transport engineering , economics
This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian’s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot’s behavior. The aim of the integration of SFM into robot’s behavior is to increase robot’s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human’s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm.