TY - GEN
T1 - A mobile robot for transport applications in hospital domain with safe human detection algorithm
AU - Takahashi, Masaki
AU - Suzuki, Takafumi
AU - Cinquegrani, Francesco
AU - Sorbello, Rosario
AU - Pagello, Enrico
PY - 2009/12/1
Y1 - 2009/12/1
N2 - We have been developing a MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens and other materials. This study proposes a safe obstacle collision avoidance technique that includes a human detection algorithm for omni directional mobile robots that realizes a safe movement technology. The robot can distinguish people from others obstacles with human detection algorithm. The robot evades to people more safely by considering its relative position and velocity with respect to them. Some experiments in a hospital were carried out to verify the performance of the human detection algorithm. Moreover, the simulation results have confirmed that the robot can reach the goal without colliding with static and dynamic obstacles.
AB - We have been developing a MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens and other materials. This study proposes a safe obstacle collision avoidance technique that includes a human detection algorithm for omni directional mobile robots that realizes a safe movement technology. The robot can distinguish people from others obstacles with human detection algorithm. The robot evades to people more safely by considering its relative position and velocity with respect to them. Some experiments in a hospital were carried out to verify the performance of the human detection algorithm. Moreover, the simulation results have confirmed that the robot can reach the goal without colliding with static and dynamic obstacles.
UR - http://www.scopus.com/inward/record.url?scp=77951453676&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951453676&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420402
DO - 10.1109/ROBIO.2009.5420402
M3 - Conference contribution
AN - SCOPUS:77951453676
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 1543
EP - 1548
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -