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Authors: Zoltán Gyenes 1 ; Ilshat Mamaev 2 ; Dongxu Yang 2 ; Emese Gincsainé Szádeczky-Kardoss 1 and Björn Hein 2

Affiliations: 1 Department of Control Engineering and Information Technology, Faculty of Electrical Engineering and Informatics, Budapest University of Technology and Economics, Műegyetem rkp. 3., H-1111 Budapest, Hungary ; 2 Intelligent Process Automation and Robotics Lab, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

Keyword(s): Mobile Robot, Motion Planning, Autonomous System, Human Tracking.

Abstract: Human-robot interaction is playing an increasingly important role in everyday life and we can expect an even bigger explosion in the use of robots in the future. One such use is where a mobile robot needs to follow the human. The main objective of this paper is to introduce a novel motion planning algorithm for mobile robots, which can be used to enable the robot to follow a human while maintaining a given distance. The motion planning algorithm has to take into account obstacles in the workspace of the robot at each sampling time and to generate a collision-free motion for the agent.

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Paper citation in several formats:
Gyenes, Z.; Mamaev, I.; Yang, D.; Szádeczky-Kardoss, E. and Hein, B. (2022). Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 484-491. DOI: 10.5220/0011318200003271

@conference{icinco22,
author={Zoltán Gyenes. and Ilshat Mamaev. and Dongxu Yang. and Emese Gincsainé Szádeczky{-}Kardoss. and Björn Hein.},
title={Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={484-491},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011318200003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method
SN - 978-989-758-585-2
IS - 2184-2809
AU - Gyenes, Z.
AU - Mamaev, I.
AU - Yang, D.
AU - Szádeczky-Kardoss, E.
AU - Hein, B.
PY - 2022
SP - 484
EP - 491
DO - 10.5220/0011318200003271
PB - SciTePress

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