Collision-avoidance algorithm for human-symbiotic robot

Yuji Hosoda, Kenjirou Yamamoto, Ryouko Ichinose, Saku Egawa, Junichi Tamamoto, Kouji Tsubouchi, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Number of pages5
Publication statusPublished - 2010 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems


ConferenceInternational Conference on Control, Automation and Systems, ICCAS 2010
Country/TerritoryKorea, Republic of


  • And obstacle
  • Collision-avoidance
  • Human-symbiotic robot
  • Navigation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering


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