A path prediction method for human-accompanying mobile robot based on neural network

Authors:
Zhiqian Wu;Masafumi Hashimoto;Baolong Guo;Kazuhiko Takahashi
Affiliations:
Graduate School of Engineering, Doshisha University, Kyotanabe, Japan;Dept. of Intelligent Information Systems Engineering, Doshisha University, Kyotanabe, Japan;Inst. of Intelligent Control and Image Engineering, Xidian University, Xian, China;Dept. of Information Systems Design, Doshisha University, Kyotanabe, Japan
Venue:
IScIDE'11 Proceedings of the Second Sino-foreign-interchange conference on Intelligent Science and Intelligent Data Engineering
Year:
2011

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Abstract

This paper presents a path prediction method for human-accompanying mobile robot such as robotic wheelchair, domestic robot and tour guide robot. An accompanying human is detected using an in-vehicle laser range sensor (LRS). A new filter gets a smoothed track from raw LRS data of human footprints. Back propagation neural network predicts future positions of the accompanying human from the human track. Based on the future positions, a cubic spline generates a future path of the accompanying human. The experimental result validates the feasibility of the path prediction method.