Smooth Motion Control of Mobile Robot in Human-robot Coexisting Environment

In order to operate service robots in a human-robot coexisting environment, smooth motion control that does not give discomfort to the human is important. In this paper, we propose a smooth motion control method that considers human’s behavior. The proposed motion control method is based on the DWA (Dynamic Window Approach) which is a widely used obstacle avoidance scheme using the optimization of several objective functions. Considering human’s behavior, an additional objective function for DWA is defined to realize the smooth motion control of the mobile robot.