A modified dynamic window approach in crowded indoor environment for intelligent transport robot

Baehoon Choi, Beomseong Kim, Euntai Kim, Kwang Woong Yang

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

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages1007-1009
Number of pages3
Publication statusPublished - 2012 Dec 1
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

Fingerprint

Robots
Fuzzy rules
Collision avoidance
Experiments

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Choi, B., Kim, B., Kim, E., & Yang, K. W. (2012). A modified dynamic window approach in crowded indoor environment for intelligent transport robot. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems (pp. 1007-1009). [6393373]
Choi, Baehoon ; Kim, Beomseong ; Kim, Euntai ; Yang, Kwang Woong. / A modified dynamic window approach in crowded indoor environment for intelligent transport robot. ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. pp. 1007-1009
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Choi, B, Kim, B, Kim, E & Yang, KW 2012, A modified dynamic window approach in crowded indoor environment for intelligent transport robot. in ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems., 6393373, pp. 1007-1009, 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012, Jeju, Korea, Republic of, 12/10/17.

A modified dynamic window approach in crowded indoor environment for intelligent transport robot. / Choi, Baehoon; Kim, Beomseong; Kim, Euntai; Yang, Kwang Woong.

ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. p. 1007-1009 6393373.

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

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Choi B, Kim B, Kim E, Yang KW. A modified dynamic window approach in crowded indoor environment for intelligent transport robot. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. p. 1007-1009. 6393373