Safe motion planning for a mobile robot navigating in environments shared with humans

Sakcak, Basak; Bascetta, Luca (2022-10-28)
 
Avaa tiedosto
Lataukset: 

URL:
https://doi.org/10.1109/case49997.2022.9926538

Sakcak, Basak
Bascetta, Luca
Institute of Electrical and Electronics Engineers
28.10.2022

B. Sakcak and L. Bascetta, "Safe motion planning for a mobile robot navigating in environments shared with humans," 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, 2022, pp. 2074-2079, doi: 10.1109/CASE49997.2022.9926538

https://rightsstatements.org/vocab/InC/1.0/
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
https://rightsstatements.org/vocab/InC/1.0/
doi:https://doi.org/10.1109/case49997.2022.9926538
Näytä kaikki kuvailutiedot
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2023022328460
Tiivistelmä

Abstract

In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in RRT X, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality, to allow for a safe motion is proposed. The cost function is a path length weighted by a danger index based on a prediction of human motion performed using either a linear stochastic model, assuming constant longitudinal velocity and varying lateral velocity, and a GMM/GMR-based model, computed on an experimental dataset of human trajectories. The proposed approach is validated using a dataset of human trajectories collected in a real world setting.

Kokoelmat