Avoiding moving persons by using simple trajectory prediction and spatio temporal planning

Authors:
Jens Kessler;Jürgen Strobel;Horst-Michael Gross
Affiliations:
Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, Ilmenau, Germany;Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, Ilmenau, Germany;Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of Technology, Ilmenau, Germany
Venue:
KI'12 Proceedings of the 35th Annual German conference on Advances in Artificial Intelligence
Year:
2012

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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.