Home // ICAS 2015, The Eleventh International Conference on Autonomic and Autonomous Systems // View article
Authors:
Dan Necsulescu
Yu Hu
Jurek Sasiadek
Keywords: human friendly robots; Dempster-Shafer evidence theory; sensor fusion; human safety
Abstract:
In this paper, a human friendly autonomous robot, was presented. Navigation of this robot applies sensor fusion technique based on Dempster-Shafer method and velocity potential field. The controller of the autonomous mobile robot is designed to lead the robot toward the goal while avoiding collisions in complex environments and maintain human safety as a first priority. The approach is based on Dempster-Shafer sensor fusion of signals from sonar and passive infrared sensors to allow the robot to identify human presence. A velocity potential field robot controller is formulated for the case of avoiding collisions while giving higher priority to collision avoidance with humans as opposed of objects. Simulations and experiments illustrate the performance of the approach in extreme situations.
Pages: 92 to 97
Copyright: Copyright (c) IARIA, 2015
Publication date: May 24, 2015
Published in: conference
ISSN: 2308-3913
ISBN: 978-1-61208-405-3
Location: Rome, Italy
Dates: from May 24, 2015 to May 29, 2015