Abstract
If a mobile robot operates within its environment, it should take other persons into account while moving around. This work presents an approach, which predicts the movements of persons in a very simple way, and uses the predicted trajectories to plan a motion path for the robot. The presented motion prediction and planning process is much faster than real time. A potential field is applied to predict the person’s movement trajectory, and a modified Fast Marching planner is used for the planning process. The aim of this work is, to create an early avoiding behavior of the robot, when the robot passes a person, to signal a ”busy’”-behavior towards the person.
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Kessler, J., Strobel, J., Gross, HM. (2012). Avoiding Moving Persons by Using Simple Trajectory Prediction and Spatio Temporal Planning. In: Glimm, B., Krüger, A. (eds) KI 2012: Advances in Artificial Intelligence. KI 2012. Lecture Notes in Computer Science(), vol 7526. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33347-7_8
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DOI: https://doi.org/10.1007/978-3-642-33347-7_8
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