@inproceedings{e9a40b423a3849f48aa063c42267191d,
title = "Collision-avoidance algorithm for human-symbiotic robot",
abstract = "A real-time collision-avoidance algorithm for human-symbiotic robots that are required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot - called EMIEW{"} - using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is a maximum of 4 ms.",
keywords = "And obstacle, Collision-avoidance, Human-symbiotic robot, Navigation",
author = "Yuji Hosoda and Kenjirou Yamamoto and Ryouko Ichinose and Saku Egawa and Junichi Tamamoto and Kouji Tsubouchi and Shinichi Yuta",
year = "2010",
month = dec,
day = "1",
language = "English",
isbn = "9781424474530",
series = "ICCAS 2010 - International Conference on Control, Automation and Systems",
pages = "557--561",
booktitle = "ICCAS 2010 - International Conference on Control, Automation and Systems",
note = "International Conference on Control, Automation and Systems, ICCAS 2010 ; Conference date: 27-10-2010 Through 30-10-2010",
}