TY - GEN
T1 - Navigation in human-robot and robot-robot interaction using optimization methods
AU - Palm, Rainer
AU - Bouguerra, Abdelbaki
AU - Abdullah, Muhammad
AU - Lilienthal, Achim J.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/2/6
Y1 - 2017/2/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85015772798&partnerID=8YFLogxK
U2 - 10.1109/SMC.2016.7844939
DO - 10.1109/SMC.2016.7844939
M3 - Conference contribution
AN - SCOPUS:85015772798
T3 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
SP - 4489
EP - 4494
BT - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Y2 - 9 October 2016 through 12 October 2016
ER -