人に同行する自律移動ロボットにおける手つなぎポテンシャルを用いた移動制御(学生研究発表会)
Control of Accompanying Movement of Autonomous Mobile Robot Based on Hand Joining Potential

Takafumi WATANUKI, Masahide KANEKO
2014 ITE Technical Report  
This paper proposes a hand join 血 9 Potential based co 甜 ol method fbr an autonomous mobile robot which accompanies a useL A hand jo 血 血 9 Poten 廿al is designed by opti血 zing an ar面 cial potential method to accompanying movement . A robot moves side − by − side with a user j 皿 the normal situation , and changes to a cascade position for avoidjllg obstacles . Attractive potentials are set on both le 丘 and right sides of a皿 accompanying person and their locations are changed according to the
more » ... ion of an accompanying person and conditions of surround 血 gs , Us血 g the proposed method , the mobile robot can autonomously
doi:10.11485/itetr.38.9.0_33 fatcat:cj5aa4h7uzdvhf4cn6dbzjygsi