Human-Aware Mobile Robot Exploration and Motion Planner

被引：0

作者：

Xia, Fei ^{[1
]}

Tyoan, Louae ^{[1
]}

Yang, Zhongtao ^{[1
]}

Uzoije, Ikenna ^{[1
]}

Zhang, Guangcong ^{[1
]}

Vela, Patricio A. ^{[1
]}

机构：

[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

来源：

IEEE SOUTHEASTCON 2015 | 2015年

关键词：

Human-aware exploration; autonomous navigation; human-robot interaction;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

Conventionally, robot exploration problem assumes a static environment. Casting the exploration problem with the presence of humans brings new possibilities for interactive exploration tasks including robot rescue, etc. In this paper, we present a mobile robot system designed to explore an unknown environment with humans. The system is able to perform the robot localization and mapping, and produce the positions of humans in the environment at the same time. The system combines techniques of simultaneous localization and mapping (SLAM), motion planning, and human recognition. Our approach maximizes the exploration efficiency by designing optimal exploration paths. Moreover, the robot is able to perform human-aware behavior during the exploration, which complies with human safety, preferences and actions. Both simulation and field experimental results in real world settings are presented.

引用

页数：4

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