A social planning and navigation for tour-guide robot in human environment

A. Bellarbi, S. Kahlouche, N. Achour, N. Ouadah
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引用次数: 11

Abstract

The biggest challenges in modern robotics is service robots, which are able to execute many tasks for humans in their presence. This perspective naturally causes the problem of social navigation of mobile robots as well as human-robot interaction. In this article, we present the implementation of a navigation method on a mobile robot in indoor environment; we detail the algorithm and the implementation of human-robot interaction social rules. The principle is to define a goal for the robot, which plans a path that drives it to its goal, choosing the shortest, the smoothest, and the safety way, avoiding socially the dynamic obstacles. For this purpose, the robot uses a laser sensor for building environments maps, localization, and detection of new obstacles, and an RGB-D camera (Kinect sensor) for social avoidance.
面向人类环境的导览机器人社会规划与导航
现代机器人技术面临的最大挑战是服务机器人,它们能够在人类面前执行许多任务。这种观点自然会导致移动机器人的社交导航问题以及人机交互问题。在本文中,我们提出了一种室内环境下移动机器人导航方法的实现;详细介绍了人机交互社会规则的算法和实现。其原理是为机器人定义一个目标,机器人规划一条路径,使其达到目标,选择最短、最平滑、最安全的路径,并社会性地避开动态障碍物。为此,机器人使用激光传感器来构建环境地图、定位和检测新障碍物,并使用RGB-D摄像头(Kinect传感器)来进行社交回避。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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