Improving Throughput of Mobile Robots in Narrow Aisles

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Emergency brakes applied by mobile robots to avoid collision with humans often block the traffic in narrow hallways. The ability to smoothly navigate in such environments can enable the deployment of robots in shared spaces with humans such as hospitals, cafeterias and so on. The standard navigation stacks used by these robots only use spatial information of the environment while planning its motion. In this work, we propose a predictive approach for handling dynamic objects such as humans. The use of this temporal information enables a mobile robot to predict collisions early enough and avoid the use of emergency brakes. We validated our approach in a real-world set-up at a busy university hallway. Our experiments show that the proposed approach results in fewer stops compared to the standard navigation stack only using spatial information.
Original languageEnglish
Title of host publicationProceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - HUCAPP
EditorsAlexis Paljic, Mounia Ziat, Kadi Bouatouch
Volume2
PublisherSCITEPRESS Digital Library
Publication date2023
Pages221-228
ISBN (Electronic)978-989-758-634-7
DOIs
Publication statusPublished - 2023
Event18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Lisabon, Portugal
Duration: 19. Feb 202321. Feb 2023

Conference

Conference18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Country/TerritoryPortugal
CityLisabon
Period19/02/202321/02/2023
SeriesIVAPP
Volume2
ISSN2184-4321

Keywords

  • Human-Robot-Interaction
  • Mobile Robotics

Fingerprint

Dive into the research topics of 'Improving Throughput of Mobile Robots in Narrow Aisles'. Together they form a unique fingerprint.

Cite this