Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments

被引：0
|
作者：
Yang, Sungwoo [1 ]
Kang, Sumin [1 ]
Kim, Myunghyun [1 ]
Kim, Donghan [1 ]
机构：
[1] Kyung Hee Univ, Dept Elect Engn AgeTech Serv Convergence Major, Yongin, Gyeonggi Do, South Korea
来源：
2022 SIXTH IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING, IRC | 2022年
基金：
新加坡国家研究基金会;
关键词：
Human-Aware Robot Navigation; Human-Robot Interaction; Corner-Detection; Corner-Turning;
D O I：
10.1109/IRC55401.2022.00055
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
As the utilization of robots in indoor environments increases, it has become common for humans and robots to co-exist in such environments. Most human-aware navigation algorithms only considered humans in the robot's field of view. However, in cases of L-shape corridors, there is a high possibility that human suddenly appears. To deal with this situation, we propose an improved corner detection algorithm and a novel waypoint planner, WPC. The proposed algorithm is validated through simulations using PedSim and Gazebo.
引用
收藏
页码：287 / 291
页数：5
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