Safe motion planning for a mobile robot navigating in environments shared with humans
Sakcak, Basak; Bascetta, Luca (2022-10-28)
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
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https://urn.fi/URN:NBN:fi-fe2023022328460
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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.
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