Collision Avoidance Assist Method Based on Expected Arrival Time for Power-Assisted Omni-Directional Mobile Robot
Ken HASHIMOTO, Yuki Ueno, Yoshiki Matsuo · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2020
According to studies in the field of ecological psychology, when an animal is reaching a target, its movement is such that the time derivative of the expected arrival time is kept constant. Learning from this principle, the authors have proposed a method to assist a human operator of a power-assisted control type omni-directional mobile robot in collision avoidance operations. Previously, the effectiveness of the proposed method has been confirmed by simulation and experiment in cases with a single obstacle. In this report, first, an algorithm is introduced to expand the proposed scheme to multiple obstacle cases. Second, the validity is confirmed through simulations.