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Widyawardana Adiprawita, Widyawardana
Institut Teknologi Bandung
Electrical & Electronics Engineering

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Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model Sadiyoko, Ali; Trilaksono, Bambang Riyanto; Mutijarsa, Kusprasapta; Adiprawita, Widyawardana
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (873.965 KB) | DOI: 10.14203/j.mev.2015.v6.67-74

Abstract

This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian’s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot’s behavior. The aim of the integration of SFM into robot’s behavior is to increase robot’s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human’s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm.
Co-Authors Ali Sadiyoko Bambang Riyanto Trilaksono Cahyawijaya, Samuel Cahyawijaya, Samuel Kusprasapta Mutijarsa Mochamad Irwan Nari Setiawan, Agung Wahyu Wilie, Bryan Wilie, Bryan