The project aims at the implementation on a mobile robot of a path planning algorithm for approaching a person in a dynamic environment, and in a natural human-like manner. The procedure finds out a feasible path for the robot between a set of candidate ones, computed using splines; to keep the computation of the trajectories constantly updated depending on the entities present in the environment, the planner is run in real-time, and the Extended Social Force Model has been also included.
Approaching path planning in dynamic environment
Galvan, Marta
2019/2020
Abstract
The project aims at the implementation on a mobile robot of a path planning algorithm for approaching a person in a dynamic environment, and in a natural human-like manner. The procedure finds out a feasible path for the robot between a set of candidate ones, computed using splines; to keep the computation of the trajectories constantly updated depending on the entities present in the environment, the planner is run in real-time, and the Extended Social Force Model has been also included.File in questo prodotto:
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/28048