Abstract
This paper presents a path prediction method for human-accompanying mobile robot such as robotic wheelchair, domestic robot and tour guide robot. An accompanying human is detected using an in-vehicle laser range sensor (LRS). A new filter gets a smoothed track from raw LRS data of human footprints. Back propagation neural network predicts future positions of the accompanying human from the human track. Based on the future positions, a cubic spline generates a future path of the accompanying human. The experimental result validates the feasibility of the path prediction method.
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Wu, Z., Hashimoto, M., Guo, B., Takahashi, K. (2012). A Path Prediction Method for Human-Accompanying Mobile Robot Based on Neural Network. In: Zhang, Y., Zhou, ZH., Zhang, C., Li, Y. (eds) Intelligent Science and Intelligent Data Engineering. IScIDE 2011. Lecture Notes in Computer Science, vol 7202. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31919-8_5
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DOI: https://doi.org/10.1007/978-3-642-31919-8_5
Publisher Name: Springer, Berlin, Heidelberg
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