Para acceder a los documentos con el texto completo, por favor, siga el siguiente enlace: http://hdl.handle.net/2117/76556

Proactive kinodynamic planning using the extended social force model and human motion prediction in urban environments
Ferrer Mínguez, Gonzalo; Sanfeliu Cortés, Alberto
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
This paper presents a novel approach for robot navigation in crowded urban environments where people and objects are moving simultaneously while a robot is navigating. Avoiding moving obstacles at their corresponding precise moment motivates the use of a robotic planner satisfying both dynamic and nonholonomic constraints, also referred as kynodynamic constraints. We present a proactive navigation approach with respect its environment, in the sense that the robot calculates the reaction produced by its actions and provides the minimum impact on nearby pedestrians. As a consequence, the proposed planner integrates seamlessly planning and prediction and calculates a complete motion prediction of the scene for each robot propagation. Making use of the Extended Social Force Model (ESFM) allows an enormous simplification for both the prediction model and the planning system under differential constraints. Simulations and real experiments have been carried out to demonstrate the success of the proactive kinodynamic planner.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
mobile robots
Classificació INSPEC::Automation::Robots::Mobile robots
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers (IEEE)
         

Mostrar el registro completo del ítem

Documentos relacionados

Otros documentos del mismo autor/a

Ferrer Mínguez, Gonzalo; Garrell Zulueta, Anais; Villamizar Vergel, Michael Alejandro; Huerta Casado, Iván; Sanfeliu Cortés, Alberto
Ferrer Mínguez, Gonzalo; Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto
Ferrer Mínguez, Gonzalo; Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto