TY - GEN
T1 - A modified dynamic window approach in crowded indoor environment for intelligent transport robot
AU - Choi, Baehoon
AU - Kim, Beomseong
AU - Kim, Euntai
AU - Yang, Kwang Woong
PY - 2012
Y1 - 2012
N2 - We propose the modified dynamic window approach for indoor transport robot. The dynamic window approach is the popular collision avoidance algorithm that considers the heading direction of the robot, the distance to the obstacle, and the velocity of the robot. The objective function of the DWA thinks faster speed is better but it is very dangerous when there are many people around. They will feel discomfort with fast vehicle around them. This paper proposes that when the robot is in crowded place which means there are many dynamic obstacles around the robot, the robot move slow down to watch out the collision with them. It is implemented by using several fuzzy rules to determine the possible actions of the robot in DWA. Experiment results are given to validate our proposed method.
AB - We propose the modified dynamic window approach for indoor transport robot. The dynamic window approach is the popular collision avoidance algorithm that considers the heading direction of the robot, the distance to the obstacle, and the velocity of the robot. The objective function of the DWA thinks faster speed is better but it is very dangerous when there are many people around. They will feel discomfort with fast vehicle around them. This paper proposes that when the robot is in crowded place which means there are many dynamic obstacles around the robot, the robot move slow down to watch out the collision with them. It is implemented by using several fuzzy rules to determine the possible actions of the robot in DWA. Experiment results are given to validate our proposed method.
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M3 - Conference contribution
AN - SCOPUS:84872510543
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 1007
EP - 1009
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -