A Motion Planning Scheme of Service Robots for Cramped and Crowded Situations

被引：0
|
作者：
Zhang S. [1 ,2 ]
Zhou L. [2 ,3 ]
Liu M. [2 ,3 ]
Hu Z. [2 ,3 ]
Zhao Y. [2 ,3 ]
Liu J. [2 ,3 ]
机构：
[1] School of Mechanical Engineering, Tianjin University of Technology, Tianjin
[2] Institute of Robotics and Automatic Information System, Nankai University, Tianjin
[3] Tianjin Key Laboratory of Intelligent Robotics, Tianjin
来源：
Jiqiren/Robot | 2021年 / 43卷 / 03期
关键词：
Cramped and crowded situation; Modeling of human's comfort need; Motion planning; Service robot; Tri-co (coexisting-cooperative-cognitive) robot;
D O I：
10.13973/j.cnki.robot.200242
中图分类号：
学科分类号：
摘要：
For a kind of multi-dimensional service situations, namely cramped and narrowed situations, a motion planning scheme is designed to balance the relation between the mobility efficiency of a mobile robot and its impact on human's comfort feelings while the robot moving around people. This method describes human's comfort needs with tension space and uses the deformation degree of human's tension space under the influence of robot movement to model the relation between robot movement and human's comfort feelings. Then the motion planning is optimized with robot movement efficiency and human's comfort feelings. Finally, the effectiveness of the designed method is verified with simulations and the applicability of the research framework for service robots based on multi-dimensional service situations is further embodied with the research of cramped and crowded service situations. © 2021, Science Press. All right reserved.
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页码：269 / 278
页数：9
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