Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
We propose a motion planning method that realizes both human-predictable motion along the facility structure and highly acceptable motion with give-way behavior, which are required for hospital transport robots. First, multiple lanes parallel to the path along the facility structure are defined, and the robot moves on the lanes while changing lanes. In addition, on multiple candidate paths consisting of a lane change path and lane, a motion profile is planned based on human motion prediction and minimum time control. Then, the optimal plan among them is determined at each control loop to realize a give-way behavior. The effectiveness of the proposed method was evaluated by simulation.
