Author:
Yoshitake Hiroshi, ,Nishi Kenta,Shino Motoki
Abstract
In this study, we proposed an autonomous motion planning method for improving passenger comfort while ensuring safety, particularly with respect to mobility scooters used by elderly people. We proposed a trajectory planner for restricting vehicle behaviors with large accelerations and jerks by selecting a safe trajectory from a set of preset trajectories. Then, based on this trajectory planner, we developed an autonomous motion planning method with four different driving modes, and evaluated the effectiveness of the method through a numerical simulation. The simulation results demonstrated that the proposed method increased comfort without compromising on safety.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference20 articles.
1. A. Brandt, S. Iwarsson, and A. Stahle, “Older People’s Use of Powered Wheelchairs for Activity and Participation,” J. of Rehabilitation Medicine, Vol.36, No.2, pp. 70-77, 2004.
2. J. Okuno, T. Nishijima, and S. Kuno, “The Relationship between Physical Fitness and Index of Competence and General Health Questionnaire in the Housebound Elderly,” Japanese J. of Physical Fitness and Sports Medicine, Vol.52, No.Supplement, pp. 237-247, 2003 (in Japanese).
3. D. Fox, W. Burgard, and S. Thrun, “The Dynamic Window Approach to Collision Avoidance,” IEEE Robotics & Automation Magazine, Vol.4, No.1, pp. 23-33, 1997.
4. M. Seder and I. Petrovic, “Dynamic Window Based Approach to Mobile Robot Motion Control in the Presence of Moving Obstacles,” Proc. of 2007 IEEE Int. Conf. on Robotics and Automation, pp. 1986-1991, 2007.
5. B. Damas and J. Santos-Victor, “Avoiding Moving Obstacles: The Forbidden Velocity Map,” Proc. of 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4393-4398, 2009.
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献