Abstract
We have been developing a MKR (Muratec KeioRobot), an autonomous omni-directional mobile transfer robotsystem for hospital applications. This robot has a wagon truckto transfer luggage, important specimens and other materials.This study proposes a safe obstacle collision avoidancetechnique that includes a human detection algorithm for omnidirectional mobile robots that realizes a safe movementtechnology. The robot can distinguish people from othersobstacles with human detection algorithm. The robot evades topeople more safely by considering its relative position andvelocity with respect to them. Some experiments in a hospitalwere carried out to verify the performance of the humandetection algorithm. Moreover, the simulation results haveconfirmed that the robot can reach the goal without collidingwith static and dynamic obstacles.
| Lingua originale | English |
|---|---|
| Pagine | 1543-1548 |
| Numero di pagine | 6 |
| Stato di pubblicazione | Published - 2009 |
All Science Journal Classification (ASJC) codes
- ???subjectarea.asjc.1700.1707???
- ???subjectarea.asjc.1700.1709???
- ???subjectarea.asjc.2500.2502???