Back to Search
Start Over
Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces
- Source :
- Sensors, Volume 20, Issue 1, Sensors, Vol 20, Iss 1, p 240 (2019), Sensors (Basel, Switzerland)
- Publication Year :
- 2019
- Publisher :
- Multidisciplinary Digital Publishing Institute, 2019.
-
Abstract
- In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass through, it may not see enough clearance to navigate, hence limiting its operational space. An approach to facing this is to insert waypoints strategically placed within the problematic areas in the map, which are considered by the robot planner when generating a trajectory and help to successfully traverse them. This is typically carried out by a human operator either by relying on their experience or by trial-and-error. In this paper, we present an automatic procedure to perform this task that: (i) detects problematic areas in the map and (ii) generates a set of auxiliary navigation waypoints from which more suitable trajectories can be generated by the robot planner. Our proposal, fully compatible with the robotic operating system (ROS), has been successfully applied to robots deployed in different houses within the H2020 MoveCare project. Moreover, we have performed extensive simulations with four state-of-the-art robots operating within real maps. The results reveal significant improvements in the number of successful navigations for the evaluated scenarios, demonstrating its efficacy in realistic situations.
- Subjects :
- 0209 industrial biotechnology
Traverse
Phenomena and Processes::Mathematical Concepts::Algorithms [Medical Subject Headings]
Computer science
Chemicals and Drugs::Inorganic Chemicals::Free Radicals::Reactive Oxygen Species [Medical Subject Headings]
waypoint generation
Real-time computing
Information Science::Information Science::Computing Methodologies::Artificial Intelligence::Robotics [Medical Subject Headings]
02 engineering and technology
lcsh:Chemical technology
Biochemistry
Article
Analytical Chemistry
Task (project management)
Waypoint generation
Organisms::Eukaryota::Animals::Chordata::Vertebrates::Mammals::Primates::Haplorhini::Catarrhini::Hominidae::Humans [Medical Subject Headings]
Waypoint
robot deployment
020901 industrial engineering & automation
Information Science::Information Science::Computing Methodologies::Artificial Intelligence [Medical Subject Headings]
Navigation assistant
robot navigation
Artificial Intelligence
mobile robots
robot localization
0202 electrical engineering, electronic engineering, information engineering
Mobile robots
Mapa
lcsh:TP1-1185
Electrical and Electronic Engineering
Instrumentation
business.industry
Robot localization
Robotics
Mobile robot
Atomic and Molecular Physics, and Optics
Inteligencia artificial
Trajectory
Robot navigation
Map
Robot
020201 artificial intelligence & image processing
Noise (video)
Artificial intelligence
business
Robótica
Robot deployment
Subjects
Details
- Language :
- English
- ISSN :
- 14248220
- Database :
- OpenAIRE
- Journal :
- Sensors
- Accession number :
- edsair.doi.dedup.....c54db8c2eac19aa74e902bd0146bbad5
- Full Text :
- https://doi.org/10.3390/s20010240