Farklı Nesnelere Göre Navigasyon Yolunun Revizyonu

Abstract

This study is about a mobile robot navigation. Navigation algorithms are needed to move mobile robots. Thanks to these algorithms, the navigation of robots from the specified starting point to the target point is provided. However, avoiding obstacles while navigating the robot is one of the requirements that a standard navigation algorithm need. For obstacle avoidance, a navigation path is created by taking into account the obstacles on a known map. Another method is to actively scan during navigation and choose the paths without obstacles. On the other hand, classical obstacle detection or obstacle avoidance algorithms ignore whether objects are human or nonliving. Thus, all obstacles are seen the same and the robot follows its path by avoiding these obstacles. On the other hand, treating people as a classic obstacle is one of the most important shortcomings of current navigation algorithms. In such a situation, people may be disturbed by the presence of robots. Especially after a Covid-19 pandemic, people need more space even between other humans. For this reason, obstacle avoidance algorithms encountered in classical navigation algorithms should be revised based on the presence of people so that a better navigation scheme will be created. In this context, a distinction is made between humans and other objects in this study. The robot updates the navigation paths by taking into account a social distance to people based on the proxemics theory. Thus, by providing the social distance people need, it has been able to create a navigation that will make people feel more comfortable.