Announcement
Starting on July 4, 2018 the Indonesian Publication Index (IPI) has been acquired by the Ministry of Research Technology and Higher Education (RISTEKDIKTI) called GARUDA Garba Rujukan Digital (http://garuda.ristekdikti.go.id)
For further information email to portalgaruda@gmail.com

Thank you
Logo IPI  
Journal > Mechatronics, Electrical Power, and Vehicular Technology > Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model

 

Full Text PDF (874 kb)
Mechatronics, Electrical Power, and Vehicular Technology
Vol 6, No 2 (2015)
Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model
Sadiyoko, Ali ( Universitas Katolik Parahyangan)
Trilaksono, Bambang Riyanto ( Institut Teknologi Bandung)
Mutijarsa, Kusprasapta ( Institut Teknologi Bandung)
Adiprawita, Widyawardana ( Institut Teknologi Bandung)
Article Info   ABSTRACT
Published date:
30 Dec 2015
 
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.
Copyrights © 2015