Mobile robot behavior adaptation in navigation space shared with human
Résumé
The paper presents an approach to the navigation of autonomous mobile platforms among people in a warehouse environment. When navigating in the presence of human, obstacle avoidance is not sufficient to assure a harmonious cohabitation. Indeed the robot should consider the personal space of people and its expected behaviour. So, to take this considerations into account, a two levels control algorithm is proposed. Depending on the situation encountered, each level is producing a different behaviour to be adopted by the robot. Moreover, a dynamic definition of the proxemics area of the person enables the robot to deal with cluttered areas while keeping its distances when needed. The approach has been simulated and tested against state of the art algorithm. Then, it has been fully implemented and tested.
Domaines
Automatique / Robotique
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