Planning human-aware motions using a sampling-based costmap planner

摘要：

This paper addresses the motion planning problem while considering Human-Robot Interaction (HRI) constraints. The proposed planner generates collision-free paths that are acceptable and legible to the human. The method extends our previous work on human-aware path planning to cluttered environments. A randomized cost-based exploration method provides an initial path that is relevant with respect to HRI and workspace constraints. The quality of the path is further improved with a local path-optimization method. Simulation results on mobile manipulators in the presence of humans demonstrate the overall efficacy of the approach.

作者: Jim Mainprice E. Akin Sisbot L(e)onard Jaillet Juan Cort(e)s Rachid Alami Thierry Sim(e)on

作者单位: CNRS LAAS 7 avenue du colonel Roche,F-31077 Toulouse,France Universit(e) de Toulouse UPS,INSA,INP,IS Institut de Rob(o)tica i Inform(a)tica Industrial CSIC-UPC c/ Llorens i Artigas 4-6,08028 Barcelona

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5012-5017

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）