Collision-free navigation based on people tracking algorithm with biped walking model

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 2983-2989

  Lee, Jae Hoon ^a   Abe, Kenji ^b   Tsubouchi, Takashi ^b   Ichinose, Ryoko ^c   Hosoda, Yuji ^c   Ohba, Kohtaro ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b UNIVERSITY OF TSUKUBA   (Japan)

^c HITACHI LTD   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED WALKING; COLLISION-FREE PATH-PLANNING; CONFIGURATION SPACE; HUMAN WALKING; INDOOR ENVIRONMENT; LASER RANGE FINDERS; NAVIGATION ALGORITHMS; PATH-PLANNING; PEOPLE TRACKING; PLANNING METHOD; REAL ROBOT; ROBOT NAVIGATION; SPACE AND TIME; WALKING FREQUENCIES;

ALGORITHMS; INTELLIGENT ROBOTS; NAVIGATION; ROBOT PROGRAMMING; WAVE FUNCTIONS;

TARGET TRACKING;

EID: 69549108959     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650893     Document Type: Conference Paper

References (16)

1. T. Tsubouchi, T. Naniwa and S. Arimoto, "Planning and navigation by a mobile robot in the presence of multiple moving obstacles and their velocities," J. of Robotics and Mechatronics, vol.8, no.1, pp.58-66, 1996. (Pubitemid 126085677)
2. E. Prassler and J. Scholz, "Tracking multiple moving objects for real-time robot navigation," Autonomous Robots, Vol.8, pp.105-116, 2000. (Pubitemid 30594913)
3. H. Zhao and R. Shibasaki, "A Novel System for Tracking Pedestrians Using Multiple Single-Row Laser-Range Scanners," IEEE Transactions on Systems, Man, and Cybernetics-Part A, Vol.35, No.2, 2005.
4. D. Gavrila, "The visual analysis of human movement: a survey," Computer Vision and Image Understanding, Vol.73, No.1, pp. 82-98, 1999.
5. T. Arai and J. Ota, "Motion planning of multiple mobile robots," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1761-1768, 1992.
6. S. Ishikawa, "A method of indoor mobile robot navigation by using fuzzy control," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1013-1018, 1991.
7. A. Stentz, "The focussed D* algorithm for real-time replanning," in Proc. of the International Joint Conference on Artificial Intelligence, pp. 1652-1659, 1995.
8. J. Cui, H. Zha, H. Zhao and R. Shibasaki, "Tracking multiple people using laser and vision," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1301-1306, 2005.
9. B. Kluge, C. Koehler, and E. Prassler, "Fast and robust tracking of multiple moving objects with a laser range finder," in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1683-1688, 2001.
10. M. Scheutz, J. McRaven, and Gy. Cserey, "Fast, reliable, adaptive, bimodal people tracking for indoor environments," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1347-1352, 2004. (Pubitemid 40275786)
11. J. H. Lee, T. Tsubouchi, K. Yamamoto, and S. Egawa, "People tracking using a robot in motion with laser range finder," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2936-2942, 2006. (Pubitemid 46928348)
12. H. Zhao, Y. Chen, K. Katabira, and R. Shibasaki, "Monitoring a populated environment using single-row laser range scanners from a mobile platform," in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 4739-4745, 2007. (Pubitemid 350140921)
13. D. Schulz, W. Burgard, D. Fox, and A.B. Cremers, "People tracking with a mobile robot using sample-based joint probabilistic data association filters," in Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1665-1670, 2003.
14. F. Asano, Z. Luo, and M.Yamakita, "Biped gait generation and control based on a unified property of passive dynamic walking," IEEE Trans. on Robotics, Vol.21, No.4, pp. 754-761, 2005.
15. Z. Zivkovic and B. Krose, "Part based people detection using 2D range data and images," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 214-219, 2007.
16. C. Stachniss and W. Burgard, "An integrated approach to goal-directed obstacle avoidance under dynamic constraints for dynamic environments," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 508-513, 2002. (Pubitemid 35437863)