A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Hiroi, Yutaka; Ito, Akinori

doi:10.3390/robotics8040097

Cited by 5 publications

(5 citation statements)

References 44 publications

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“…Second, we did not implement the function to avoid obstacles and other persons to the robot. We must implement the pedestrian avoidance method [52] to realize this. Finally, the robot cannot choose the guide route dynamically according to the situation.…”

Section: Discussionmentioning

confidence: 99%

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Development of a Personal Guide Robot That Leads a Guest Hand-in-Hand While Keeping a Distance

Wakabayashi,

Hiroi,

Miyawaki

et al. 2024

Sensors

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This paper proposes a novel tour guide robot, “ASAHI ReBorn”, which can lead a guest by hand one-on-one while maintaining a proper distance from the guest. The robot uses a stretchable arm interface to hold the guest’s hand and adjusts its speed according to the guest’s pace. The robot also follows a given guide path accurately using the Robot Side method, a robot navigation method that follows a pre-defined path quickly and accurately. In addition, a control method is introduced that limits the angular velocity of the robot to avoid the robot’s quick turn while guiding the guest. We evaluated the performance and usability of the proposed robot through experiments and user studies. The tour-guiding experiment revealed that the proposed method that keeps distance between the robot and the guest using the stretchable arm enables the guests to look around the exhibits compared with the condition where the robot moved at a constant velocity.

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Section: Discussionmentioning

confidence: 99%

“…First, we need a mechanism to move in a real environment. Therefore, we will develop the robot based on ASAHI [52], a daily life support robot developed by our research group. Next, we need a robot avatar (Section 3.4) that connects hands with the guest.…”

Section: The Hardwarementioning

confidence: 99%

Development of a Personal Guide Robot That Leads a Guest Hand-in-Hand While Keeping a Distance

Wakabayashi,

Hiroi,

Miyawaki

et al. 2024

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…Finally, the linear and angular velocities required for the robot to move up to the target point can be calculated via Equation (18).…”

Section: Tracking Control Algorithmmentioning

confidence: 99%

“…These advantages keep attracting research interests to LRF-based lane recognition [14][15][16]. Previous studies fused the vision-based system or global positioning system (GPS) data with LRF data and used LRF as an auxiliary tool for lane recognition or built 2D maps utilizing the reflectance of LRF [17][18][19]. When LRF is used as an auxiliary tool, it is used for determining the position of a lane by comparing it with that recognized by a vision-based system at a measurement point or within its scope, or simply for detecting the location of a curb.…”

Section: Introductionmentioning

confidence: 99%

Lane Detection Algorithm Using LRF for Autonomous Navigation of Mobile Robot

Han

Kim

2021

Applied Sciences

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This paper proposes a lane detection algorithm using a laser range finder (LRF) for the autonomous navigation of a mobile robot. There are many technologies for ensuring the safety of vehicles, such as airbags, ABS, and EPS. Further, lane detection is a fundamental requirement for an automobile system that utilizes the external environment information of automobiles. Representative methods of lane recognition are vision-based and LRF-based systems. In the case of a vision-based system, the recognition of the environment of a three-dimensional space becomes excellent only in good conditions for capturing images. However, there are so many unexpected barriers, such as bad illumination, occlusions, vibrations, and thick fog, that the vision-based method cannot be used for satisfying the abovementioned fundamental requirement. In this paper, a three-dimensional lane detection algorithm using LRF that is very robust against illumination is proposed. For the three-dimensional lane detection, the laser reflection difference between the asphalt and the lane according to color and distance has been utilized with the extraction of feature points. Further, a stable tracking algorithm is introduced empirically in this research. The performance of the proposed algorithm of lane detection and tracking has been experimentally verified.

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“…If it is applied to a dense pedestrian scene, the probability map can be combined with its navigation method in a certain way. Another navigation method [22] can avoid a pedestrian approaching from the front and to pass him/her by, while preserving the public distance of personal space. For this method, the integration of other environment information is also necessary.…”

Section: Possible Applicationsmentioning

confidence: 99%

A Navigation Probability Map in Pedestrian Dynamic Environment Based on Influencer Recognition Model

Qiao¹,

Zhao²,

Jiang³

et al. 2020

Sensors

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One of the challenging problems in robot navigation is efficient and safe planning in a highly dynamic environment, where the robot is required to understand pedestrian patterns in the environment, such as train station. The rapid movement of pedestrians makes the robot more difficult to solve the collision problem. In this paper, we propose a navigation probability map to solve the pedestrians’ rapid movement problem based on the influencer recognition model (IRM). The influencer recognition model (IRM) is a data-driven model to infer a distribution over possible causes of pedestrian’s turning. With this model, we can obtain a navigation probability map by analyzing the changes in the effective pedestrian trajectory. Finally, we combined navigation probability map and artificial potential field (APF) method to propose a robot navigation method and verified it on our data-set, which is an unobstructed, overlooked pedestrians’ data-set collected by us.

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A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Cited by 5 publications

References 44 publications

Development of a Personal Guide Robot That Leads a Guest Hand-in-Hand While Keeping a Distance

Development of a Personal Guide Robot That Leads a Guest Hand-in-Hand While Keeping a Distance

Lane Detection Algorithm Using LRF for Autonomous Navigation of Mobile Robot

A Navigation Probability Map in Pedestrian Dynamic Environment Based on Influencer Recognition Model

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