NDLI: Dynamic path planning adopting human navigation strategies for a domestic mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Fang Yuan Twardon, L. Hanheide, M.
Copyright Year	2010
Description	Author affiliation: Applied Computer Science, Faculty of Technology, Bielefeld University, 33615, Germany (Fang Yuan; Twardon, L.) \|\| School of Computer Science, University of Birmingham, B15 2TT, England (Hanheide, M.)
Abstract	Mobile robots that are employed in people's homes need to safely navigate their environment. And natural human-inhabited environments still pose significant challenges for robots despite the impressive progress that has been achieved in the field of path planning and obstacle avoidance. These challenges mostly arise from the fact that (i) the perceptual abilities of a robot are limited, thus sometimes impeding its ability to see relevant obstacles (e.g. transparent objects), and (ii) the environment is highly dynamic being populated by humans. In this contribution we are making a case for an integrated solution to these challenges that builds upon the analysis and use of implicit human knowledge in path planning and a cascade of replanning approaches. We combine state of the art path planning and obstacle avoidance algorithms with the knowledge about how humans navigate in their very own environment. The approach results in a more robust and predictable navigation ability for domestic robots as is demonstrated in a number of experimental runs.
Starting Page	3275
Ending Page	3281
File Size	2008700
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650307
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Humans Robot kinematics Trajectory Nickel
Content Type	Text
Resource Type	Article

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