A Motion Planning Scheme of Service Robots for Cramped and Crowded Situations
ZHANG Sen1,2, ZHOU Lei2,3, LIU Meng2,3, HU Zhengxi2,3, ZHAO Yingli2,3, LIU Jingtai2,3
1. School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China; 2. Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300353, China; 3. Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300353, China
张森, 周磊, 刘梦, 胡郑希, 赵英利, 刘景泰. 一种面向狭小、拥挤情景的服务机器人运动规划方法[J]. 机器人, 2021, 43(3): 269-278.DOI: 10.13973/j.cnki.robot.200242.
ZHANG Sen, ZHOU Lei, LIU Meng, HU Zhengxi, ZHAO Yingli, LIU Jingtai. A Motion Planning Scheme of Service Robots for Cramped and Crowded Situations. ROBOT, 2021, 43(3): 269-278. DOI: 10.13973/j.cnki.robot.200242.
Abstract:For a kind of multi-dimensional service situations, namely cramped and narrowed situations, a motion planning scheme is designed to balance the relation between the mobility efficiency of a mobile robot and its impact on human’s comfort feelings while the robot moving around people. This method describes human’s comfort needs with tension space and uses the deformation degree of human’s tension space under the influence of robot movement to model the relation between robot movement and human’s comfort feelings. Then the motion planning is optimized with robot movement efficiency and human’s comfort feelings. Finally, the effectiveness of the designed method is verified with simulations and the applicability of the research framework for service robots based on multi-dimensional service situations is further embodied with the research of cramped and crowded service situations.
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