Human-Aware Navigation for Autonomous Mobile Robots for Intra-factory Logistics
Human-Aware Navigation for Autonomous Mobile Robots for Intra-factory Logistics
复制标题
工厂内物流自主移动机器人的人类感知导航
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
P. Santana
中科院分区：
文献类型：
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作者：
Francisco Marques;Duarte Gonçalves;J. Barata;P. Santana
本文提出了一种用于移动机器人的人类感知导航系统，旨在实现工厂内物流场景中的协作装配。为了提高操作员-机器人整体的整体效率，装配站和操作员被建模为支持机器人导航系统的分层成本图中的成本函数。在每次新的感官更新时，系统都会使用每个操作员的估计位置来相应地影响成本图。为了提高操作员的可预测性和舒适度，成本图根据空间关系理论受到影响，并适当调整以考虑操作员工作的车站的布局活动空间。假设工厂的计算基础设施将有关操作员正在处理哪些任务和站点的知识提供给机器人。为了促进与现有机器人的集成，该系统是在机器人操作系统 (ROS) 的导航系统之上实现的。
This paper presents a human-aware navigation system for mobile robots targeted to cooperative assembly in intra-factory logistics scenarios. To improve overall efficiency of the operator-robot ensemble, assembly stations and operators are modelled as cost functions in a layered cost map supporting the robot navigation system. At each new sensory update, the system uses each operator’s estimated location to affect the cost map accordingly. To promote predictability and comfort in the human operator, the cost map is affected according to the Proxemics theory, properly adapted to take into account the layout activity space of the station in which the operator is working. Knowledge regarding which task and station are being handled by the operator are assumed to be given to the robot by the factory’s computational infrastructure. To foster integration in existing robots, the system is implemented on top of the navigation system of the Robot Operating System (ROS).