Design of an automated street crossing management module for a delivery robot

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-09-25 DOI:10.1016/j.conengprac.2024.106095

Riccardo Pieroni, Matteo Corno, Filippo Parravicini, Sergio M. Savaresi

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引用次数: 0

Abstract

Autonomous navigation of mobile robots in urban environments is a complex problem, that can be decomposed in several tasks. Among them, autonomous street crossing is particularly difficult because it requires the robot to estimate the position and speed of surrounding vehicles and to decide which is the best action to perform based on such information. This paper develops the entire pipeline that implements autonomous street crossing; the approach is composed of an extended target tracking algorithm that estimates the position and velocity of obstacles and a crossing algorithm that determines the best crossing strategy to negotiate an unregulated intersection (i.e. without traffic lights) based on the other vehicles’ behavior. The method is first validated in an ad hoc simulation environment, and then experimentally tested using a prototype parcel delivery robot operating in a real urban environment. The results show that the robot is capable of tracking incoming vehicles and managing the crossing with good performance, in terms of the time taken to cross the road and of actions performed by the robot during the interaction with vehicles.

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为送货机器人设计自动过街管理模块

移动机器人在城市环境中的自主导航是一个复杂的问题，可以分解为多项任务。其中，自主过街尤其困难，因为它要求机器人估计周围车辆的位置和速度，并根据这些信息决定执行哪项行动最好。本文开发了实现自主过街的整个流水线；该方法由一个扩展的目标跟踪算法和一个过街算法组成，前者可估算障碍物的位置和速度，后者可根据其他车辆的行为确定最佳过街策略，以便在不受管制的交叉路口（即没有交通信号灯的路口）进行交涉。该方法首先在临时模拟环境中进行了验证，然后使用在真实城市环境中运行的包裹递送机器人原型进行了实验测试。结果表明，从过马路所需的时间以及机器人在与车辆互动过程中执行的操作来看，机器人能够跟踪来往车辆，并以良好的性能管理过马路。

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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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.