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

Autor
Ferrer, G.; Sanfeliu, A.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Any de l'edició
2014
Data de presentació
2014
Llibre d'actes
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pàgina inicial
1730
Pàgina final
1735
Editor
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/IROS.2014.6942788 Obrir en finestra nova
Projecte finançador
Cooperación Robots Humanos en Àreas Urbanas
Repositori
http://hdl.handle.net/2117/76556 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6942788 Obrir en finestra nova
Resum
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...
Citació
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.
Paraules clau
mobile robots
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants