2P1-L04 Collaborative Moving Using Contactual Inducement : Developing a Strategy of Moving and Inducement in an Environment with a Human

Abstract

In our research, we aimed to construct a strategy to plan a path of the robot that includes the inducement of humans depending on environmental factors such as road width, position of obstacle, position and posture of humans. By using RRT (rapidly exploring random tree algorithm), a probabilistic path-planning calculation method, we proposed constructing moving strategy based on the environmental factors. We implemented the proposed strategy into the robot and conducted experiments in several environments. From the experiment, we saw the robot move and induce the human accordingly to the environment, and the usefulness of the proposed method was demonstrated.