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Motion Planning of Multiple Mobile Robots Based on Artificial Potential for Human Behavior and Robot Congestion

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 112 ))

Abstract

In order for robots to exist together with humans, safety for humans has to be ensured. On the other hand, safety might decrease working efficiency of robots. Namely, this is a trade-off problem between the human safety and robot efficiency in a field of human-robot interaction. For this problem, we propose a novel motion planning technique of multiple mobile robots. Two artificial potentials are presented for generating repulsive force. A behavior potential is provided for humans. A congestion potential is provided for robots. Through simulation experiments, the effectiveness of the behavior and congestion potentials used in the motion planning technique for the human safety and robot efficiency is discussed. Moreover, a sensing system for humans in a real environment is developed. Finally, the significance of the potential generated from the actual human behavior is discussed.

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Authors and Affiliations

  1. Department of Mechanical and Intelligent Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya, 321-8585, Japan

    Satoshi Hoshino & Koichiro Maki

Authors
  1. Satoshi Hoshino
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  2. Koichiro Maki
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Corresponding author

Correspondence to Satoshi Hoshino .

Editor information

Editors and Affiliations

  1. Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan

    Nak-Young Chong

  2. Electronics and Telecommunications Research Institute, Daejeon, Korea (Republic of)

    Young-Jo Cho

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Hoshino, S., Maki, K. (2016). Motion Planning of Multiple Mobile Robots Based on Artificial Potential for Human Behavior and Robot Congestion. In: Chong, NY., Cho, YJ. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 112 . Springer, Tokyo. https://doi.org/10.1007/978-4-431-55879-8_22

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  • DOI: https://doi.org/10.1007/978-4-431-55879-8_22

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  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-55877-4

  • Online ISBN: 978-4-431-55879-8

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