Human-robot Interactive Collision Prevention: improved navigation in home environments
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2012-08-29
Language
en
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Abstract
It is generally envisaged that in the near future, personal assistance robots will
aid people in and around their homes. One of the requirements of these robots
it that they can are able to navigate autonomously such that it is safe and
comfortable for their users and at the same time effi cient for the robot. Path
planning and obstacle avoidance are crucial in these contexts. Current obstacle
avoidance algorithms are not effi cient when people cross the path of the robot. In
this thesis four types of obstacle avoidance are compared by efficiency and user
preference: static obstacle avoidance, two types of dynamic obstacle avoidance
and interactive collision prevention(ICP). The efficiency is measured in terms of
navigation time, amount of detour and the number of successful trials (without
collisions). The results suggest that both dynamic obstacle avoidance algorithms
are more efficient than static obstacle avoidance. Furthermore, first explorations
in ICP indicate that users can safely and comfortably guide the robot and that
ICP is preferred over the other algorithms.
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Faculteit der Sociale Wetenschappen