Safe mobile robot navigation in human-centered environments using a heat map-based path planner
Safe mobile robot navigation in human-centered environments using a heat map-based path planner
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DOI：
10.1007/s10015-020-00591-w
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发表时间：
2020-05-01
影响因子：
0.9
通讯作者：
Kobayashi, Yukinori
中科院分区：
文献类型：
--
作者：
Ravankar, Abhijeet;Ravankar, Ankit A.;Kobayashi, Yukinori
在以人为中心的环境中，安全的机器人导航对于避免碰撞非常重要。传统路径规划算法的一个主要局限性是，全局路径规划只与地图中的静态障碍物的知识。本文提出了一种新的“HMRP（基于热图的机器人路径规划器）”，它使用固定的外部摄像头来生成基于拥塞的不同通道的热图，使机器人可以在全局规划阶段生成无障碍路径。拥塞值被保存在数据库中，并且路径被分类为热区域和冷区域。机器人导航受人的运动方向的影响。因此，在这项工作中，基于HMRP的规划器还考虑了人在通道中的运动方向，这提高了机器人导航。在真实的环境下，将该算法与传统的路径规划算法进行了比较.结果表明，所提出的HMRP算法生成的无障碍路径的安全机器人导航。
Safe robot navigation in human-centered environments is important to avoid collisions. A major limitation of the traditional path planning algorithms is that the global path is planned only with the knowledge of static obstacles in the map. This paper presents a novel 'HMRP (heat map-based robot path planner)' which uses fixed external cameras to generate a heat map of different passages based on congestion, so that robots can generate congestion-free paths at the global planning stage itself. The congestion values are maintained in a database and the paths are classified into hot and cold regions. Robot navigation is affected by the direction of movement of people. Hence, in this work, the HMRP-based planner also considers the direction of movement of people in passages which improves robot navigation. The proposed HMRP is compared with traditional path planning algorithms in real environment. Results show that the proposed HMRP algorithm generates congestion-free paths for safe robot navigation.