MISC

2015年6月22日

C204 環境センサを用いた多変量自己回帰移動モデルに基づく人の軌道予測(OS12 ロボットおよび人間のダイナミクスと制御2)

「運動と振動の制御」シンポジウム講演論文集
  • 殿木 春香
  • ,
  • 萬 礼応
  • ,
  • 高橋 正樹

2015
14
開始ページ
355
終了ページ
359
記述言語
日本語
掲載種別
出版者・発行元
一般社団法人日本機械学会

Safety is the most important to the mobile robots that coexist with human. In order to put those into practice, mobile robots need to plan trajectory considering human trajectory. In the field of mobile robots, there are a lot of trajectory planning methods that take account of human trajectory. However, it is still difficult to avoid human in the corner because there are blind areas in mounted sensors. Moreover it is difficult to predict human trajectory in the corner. This study proposes a predictive method of human trajectory by environmental sensors. First, we gathered human trajectory data at a crossroads using environmental sensors and estimated position of gravity point of human using Extended Kalman Filter. Second, we constructed human transfer models using Vector Auto Regressive Models. Third, we predicted human trajectory using the constructed models. Finally, we validated the constructed models comparing with predicted trajectory and experimental data.

リンク情報
CiNii Articles
http://ci.nii.ac.jp/naid/110010050269
CiNii Books
http://ci.nii.ac.jp/ncid/AA11902241
ID情報
  • CiNii Articles ID : 110010050269
  • CiNii Books ID : AA11902241

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