Abstract
If a mobile robot operates within its environment, it should take other persons into account while moving around. This work presents an approach, which predicts the movements of persons in a very simple way, and uses the predicted trajectories to plan a motion path for the robot. The presented motion prediction and planning process is much faster than real time. A potential field is applied to predict the person's movement trajectory, and a modified Fast Marching planner is used for the planning process. The aim of this work is, to create an early avoiding behavior of the robot, when the robot passes a person, to signal a "busy'"-behavior towards the person. © 2012 Springer-Verlag.
Cite
CITATION STYLE
Kessler, J., Strobel, J., & Gross, H. M. (2012). Avoiding moving persons by using simple trajectory prediction and spatio temporal planning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7526 LNAI, pp. 85–96). https://doi.org/10.1007/978-3-642-33347-7_8
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