Hierarchical Topology Map with Explicit Corridor for global path planning of mobile robots

Han, Jeong-woo; Jeon, Soo; Kwon, Hyock-Ju

doi:10.1007/s11370-023-00458-6

Cited by 3 publications

(2 citation statements)

References 30 publications

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“…However, target loss may occur when other people pass between the robot and target (Nguyen et al , 2022; Toan et al , 2023b). To mitigate this issue, Toan et al (2023a) enables additional methods to determine the target when it is prone to follow failure, such as human body identification. Deremetz et al (2020), Sarmento et al (2022), Xue et al (2022) use UWB system to locate target.…”

Section: Introductionmentioning

confidence: 99%

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A robust human target following system in corridor environment based on wall detection

Li,

2023

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Purpose In corridor environments, human-following robot encounter difficulties when the target turning around at the corridor intersections, as walls may cause complete occlusion. This paper aims to propose a collision-free following system for robot to track humans in corridors without a prior map. Design/methodology/approach In addition to following a target and avoiding collisions robustly, the proposed system calculates the positions of walls in the environment in real-time. This allows the system to maintain a stable tracking of the target even if it is obscured after turning. The proposed solution is integrated into a four-wheeled differential drive mobile robot to follow a target in a corridor environment in real-world. Findings The experimental results demonstrate that the robot equipped with the proposed system is capable of avoiding obstacles and following a human target robustly in the corridors. Moreover, the robot achieves a 90% success rate in maintaining a stable tracking of the target after the target turns around a corner with high speed. Originality/value This paper proposes a human target following system incorporating three novel features: a path planning method based on wall positions is introduced to ensure stable tracking of the target even when it is obscured due to target turns; improvements are made to the random sample consensus (RANSAC) algorithm, enhancing its accuracy in calculating wall positions. The system is integrated into a four-wheeled differential drive mobile robot effectively demonstrates its remarkable robustness and real-time performance.

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Section: Introductionmentioning

confidence: 99%

“…To this end, an obstacle detection and a path planner module are incorporated into our system. Nguyen et al (2022), Toan et al (2023bToan et al ( , 2023a use the vector field histogram to help the robot avoid obstacles. However, this approach does not consider the scenario where the target remains obstructed by a wall after a turn.…”

Section: Introductionmentioning

confidence: 99%

A robust human target following system in corridor environment based on wall detection

Li,

2023

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Automated Destination Renewal Process for Location-Based Robot Errands

Lee,

Yun

2024

Applied Sciences

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In this paper, we propose a new approach for service robots to perform delivery tasks in indoor environments, including map-building and the automatic renewal of destinations for navigation. The first step involves converting the available floor plan (i.e., CAD drawing) of a new space into a grid map that the robot can navigate. The system then segments the space in the map and generates movable initial nodes through a generalized Voronoi graph (GVG) thinning process. As the second step, we perform room segmentation from the grid map of the indoor environment and classify each space. Next, when the delivery object is recognized while searching the set space using the laser and RGB-D sensor, the system automatically updates itself to a position that makes it easier to grab objects, taking into consideration geometric relationships with surrounding obstacles. Also, the system supports the robot to autonomously explore the space where the user’s errand can be performed by hierarchically linking recognized objects and spatial information. Experiments related to map generation, estimating space from the recognized objects, and destination node updates were conducted from CAD drawings of buildings with actual multiple floors and rooms, and the performance of each stage of the process was evaluated. From the quantitative evaluation of each stage, the proposed system confirmed the potential of partial automation in performing location-based robot services.

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Research on Automatic Generation of Park Road Network Based on Skeleton Algorithm

Liu,

Jiang,

Bai

et al. 2024

Applied Sciences

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This article primarily delves into the automatic generation approach of the park road network. The design of the park road network not only comprehensively takes into account environmental factors like terrain, vegetation, water bodies, and buildings, but also encompasses functional factors such as road coverage and accessibility. It constitutes a relatively complex design task, and traditional design methods rely significantly on the professional proficiency of designers. Based on the park vector terrain, in combination with the graphics skeleton algorithm, this study proposes an automatic generation method of the park road network considering environmental constraints. Through the utilization of the modified Douglas–Peucker algorithm and convex hull operation, the semantic information of environmental constraints is retained, domain knowledge is integrated, the skeleton graph is optimized, and issues such as road smoothness are addressed. This method can not only generate road network schemes rapidly, scientifically, and precisely, but also furnish the requisite digital model for the quantitative evaluation of the road network. Eventually, the study quantitatively assesses the experimental results via the spatial syntax theory to substantiate the efficacy of the method.

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Hierarchical Topology Map with Explicit Corridor for global path planning of mobile robots

Cited by 3 publications

References 30 publications

A robust human target following system in corridor environment based on wall detection

A robust human target following system in corridor environment based on wall detection

Automated Destination Renewal Process for Location-Based Robot Errands

Research on Automatic Generation of Park Road Network Based on Skeleton Algorithm

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