Multimodal path planning using potential field for human–robot interaction

Yosuke Kawasaki, Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In a human–robot interaction, a robot must move to a position where the robot can obtain precise information of people, such as positions, postures, and voice. This is because the accuracy of human recognition depends on the positional relation between the person and robot. In addition, the robot should choose what sensor data needs to be focused on during the task that involves the interaction. Therefore, we should change a path approaching the people to improve human recognition accuracy for ease of performing the task. Accordingly, we need to design a path-planning method considering sensor characteristics, human recognition accuracy, and the task contents simultaneously. Although some previous studies proposed path-planning methods considering sensor characteristics, they did not consider the task and the human recognition accuracy, which was important for practical application. Consequently, we present a path-planning method considering the multimodal information which fusion the task contents and the human recognition accuracy simultaneously.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
EditorsRüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand
PublisherSpringer Verlag
Number of pages13
ISBN (Print)9783030013691
Publication statusPublished - 2019
Event15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany
Duration: 2018 Jun 112018 Jun 15

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


Other15th International Conference on Intelligent Autonomous Systems, IAS 2018


  • Human–robot interaction
  • Multimodal path planning
  • Potential field

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)


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