Earticle

초록

영어

This paper presents a mobile robot navigation method based on human walking trajectory in intelligent space. Unlike the traditional navigation methods, the proposed method enables the robot to walk a meaningful path, which reflects human activity patterns in daily life. Human walking trajectories are extracted using multiple distributed vision cameras in intelligent space. To group trajectories with the same direction, trajectory similarity measurement is implemented. Key points on human walking trajectories and typical transfer points are utilized to build a topological map. To navigate a mobile robot to walk along the trajectory of human walking, global path planning based on the topological map and local path planning based on gird map are carried out with the spared information in intelligent space. Experimental results illustrate the performance of the proposed navigation method.

목차

Abstract
 1. Introduction
 2. Extraction of Human Walking Trajectory
  2.1. Trajectory Generation
  2.2. Trajectory Similarity Measurement
  2.3. Map Building based on Human Trajectories
 3. Navigation based on Topological Map and Human Trajectory
  3.1. Kinetic Model of the Mobile Robot
  3.2. Robot Localization based on Landmarks distributed in Intelligent Space
  3.3. Path Planning based Human Walking Trajectory
 4. Experiment Results
  4.1. Map Building
  4.2. Navigation based on Human Walking Trajectory
 5. Conclusion and Future Work
 Acknowledgements
 References

키워드

저자

• Peng Duan [ School of Control Science and Engineering, Shandong University, Jinan, 250061, P.R. China ]
• Guohui Tian [ School of Control Science and Engineering, Shandong University, Jinan, 250061, P.R. China ] Corresponding Author
• Hao Wu [ School of Control Science and Engineering, Shandong University, Jinan, 250061, P.R. China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605