Navigation in Human-Robot and Robot-Robot Interaction using Optimization Methods
2016 (English)In: SMC 2016: 2016 IEEE International Conference on Systems, Man, and Cybernetics, IEEE, 2016, 004489-004494 p.Conference paper (Refereed)
Human-robot interaction and robot-robot interaction and cooperation in shared spatial areas is a challenging field of research regarding safety, stability and performance. In this paper the collision avoidance between human and robot by extrapolation of human intentions and a suitable optimization of tracking velocities is discussed. Furthermore for robot-robot interactions in a shared area traffic rules and artificial force potential fields and their optimization by market-based approach are applied for obstacle avoidance. For testing and verification, the navigation strategy is implemented and tested in simulation of more realistic vehicles. Extensive simulation experiments are performed to examine the improvement of the traditional potential field (PF) method by the MBO strategy.
Place, publisher, year, edition, pages
IEEE, 2016. 004489-004494 p.
Human-robot interaction, human intentions, collision avoidance, robot navigation, artificial force fields, market-based optimization
Computer and Information Science
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-53702ISBN: 978-1-5090-1897-0/16OAI: oai:DiVA.org:oru-53702DiVA: diva2:1051086
2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, October 9-12, 2016
ProjectsAIR-project Action and Intention Recognition in Human Interaction with Autonomous Systems