Planning human-aware motions using a sampling-based costmap planner

被引：0

作者：

Mainprice, Jim ^{[1
,2
]}

Sisbot, E. Akin ^{[1
,2
]}

Jaillet, Leonard ^{[3
]}

Cortes, Juan ^{[1
,2
]}

Alami, Rachid ^{[1
,2
]}

Simeon, Thierry ^{[1
,2
]}

机构：

[1] CNRS, LAAS, 7 Ave Colonel Roche, F-31077 Toulouse, France

[2] Univ Toulouse, INSA ISAE, INP UPS, LAAS, F-31077 Toulouse, France

[3] CSIC, Inst Robot Informat Ind, UPC, E-08028 Barcelona, Spain

来源：

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the motion planning problem while considering Human-Robot Interaction (HRI) constraints. The proposed planner generates collision-free paths that are acceptable and legible to the human. The method extends our previous work on human-aware path planning to cluttered environments. A randomized cost-based exploration method provides an initial path that is relevant with respect to HRI and workspace constraints. The quality of the path is further improved with a local path-optimization method. Simulation results on mobile manipulators in the presence of humans demonstrate the overall efficacy of the approach.

引用

页数：6