Loading...
Loading...

Go to the content (press return)

Proactive kinodynamic planning using the extended social force model and human motion prediction in urban environments

Author
Ferrer, G.; Sanfeliu, A.
Type of activity
Presentation of work at congresses
Name of edition
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date of publication
2014
Presentation's date
2014
Book of congress proceedings
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
First page
1730
Last page
1735
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/IROS.2014.6942788 Open in new window
Project funding
Cooperación Robots Humanos en Àreas Urbanas
Repository
http://hdl.handle.net/2117/76556 Open in new window
URL
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6942788 Open in new window
Abstract
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...
Citation
Ferrer, G., Sanfeliu, A. Proactive kinodynamic planning using the extended social force model and human motion prediction in urban environments. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Chicago: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 1730-1735.
Keywords
mobile robots
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants