Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method

Zoltán Gyenes, Ilshat Mamaev, Dongxu Yang, Emese Szádeczky-Kardoss, Björn Hein

2022

Abstract

Human-robot interaction is playing an increasingly important role in everyday life and we can expect an even bigger explosion in the use of robots in the future. One such use is where a mobile robot needs to follow the human. The main objective of this paper is to introduce a novel motion planning algorithm for mobile robots, which can be used to enable the robot to follow a human while maintaining a given distance. The motion planning algorithm has to take into account obstacles in the workspace of the robot at each sampling time and to generate a collision-free motion for the agent.

Paper Citation

in Harvard Style

Gyenes Z., Mamaev I., Yang D., Szádeczky-Kardoss E. and Hein B. (2022). Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 484-491. DOI: 10.5220/0011318200003271

in Bibtex Style

@conference{icinco22,
author={Zoltán Gyenes and Ilshat Mamaev and Dongxu Yang and Emese Szádeczky-Kardoss and Björn Hein},
title={Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={484-491},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011318200003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method
SN - 978-989-758-585-2
AU - Gyenes Z.
AU - Mamaev I.
AU - Yang D.
AU - Szádeczky-Kardoss E.
AU - Hein B.
PY - 2022
SP - 484
EP - 491
DO - 10.5220/0011318200003271