Provably safe motion of mobile robots in human environments
Provably safe motion of mobile robots in human environments
复制标题
移动机器人在人类环境中的可证明安全运动
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
M. Althoff
中科院分区：
文献类型：
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作者：
Stefan B. Liu;Hendrik Roehm;Christian Heinzemann;I. Lütkebohle;Jens Oehlerking;M. Althoff
在与行人共享的环境中运行的移动的机器人需要可证明安全地移动以避免伤害行人。目前的方法，如安全领域使用保守的障碍物模型，以保证安全，这导致在人口稠密的环境中性能下降。在本文中，我们介绍了一种在线验证方法，使用有关当前行人速度的信息来计算可能的占用行人运动的运动学模型的基础上。我们证明，我们的方法减少了停止的需要，同时保留安全保证，因此在测试场景中，目标的实现速度比标准ROS导航堆栈快1.4到3.5倍。
Mobile robots operating in a shared environment with pedestrians are required to move provably safe to avoid harming pedestrians. Current approaches like safety fields use conservative obstacle models for guaranteeing safety, which leads to degraded performance in populated environments. In this paper, we introduce an online verification approach that uses information about the current pedestrian velocities to compute possible occupancies based on a kinematic model of pedestrian motion. We demonstrate that our method reduces the need for stopping while retaining safety guarantees, and thus goals are reached between 1.4 and 3.5 times faster than the standard ROS navigation stack in the tested scenarios.