Año: 2017
Autores: Herrera, D.; Monllor, M.; Santiago, D.; Roberti, F.; Carelli, R.;
Resumen: The development of human-friendly applications are focused on abstracting social behaviors as part of the robotic design. The most important is without doubt the social zone, which acts like a repulsive potential field to protect the personal space of humans and in consequence to avoid its intrusion. In robotics, many approaches have been proposed to define and to avoid these fields, which contributes to improve the human comfort during interactions. This paper proposes a novel nullspace-based (NSB) algorithm for a non-holonomic mobile robot platform, which is programmed to escort a human in a behaviourbased paradigm. The emphasis is posed in the evasion of other humans in the environment by considering them as elliptical potential fields with non-holonomic motion. Finally, experimental results are presented to show the performance of the proposed control algorithm with static and dynamic human obstacles.
Link: https://ieeexplore.ieee.org/abstract/document/8214358