Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model
| Autor: | Kusprasapta Mutijarsa, Bambang Riyanto Trilaksono, Ali Sadiyoko, Widyawardana Adiprawita |
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| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
Computer science
business.industry Pedestrian formation control social force model humanoid robots Collision TK1-9971 consensus algorithm obstacle avoidance Feature (computer vision) Obstacle Obstacle avoidance Social force model TJ1-1570 Robot Computer vision Artificial intelligence Electrical engineering. Electronics. Nuclear engineering Mechanical engineering and machinery business Simulation Humanoid robot |
| Zdroj: | Journal of Mechatronics, Electrical Power, and Vehicular Technology, Vol 6, Iss 2, Pp 67-74 (2015) |
| ISSN: | 2088-6985 2087-3379 |
| Popis: | This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian’s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot’s behavior. The aim of the integration of SFM into robot’s behavior is to increase robot’s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human’s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm. |
| Databáze: | OpenAIRE |
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