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Navigation of Semi-autonomous Service Robots Using Local Information and Anytime Motion Planners

Published online by Cambridge University Press:  14 January 2020

Guilherme A. S. Pereira Open the ORCID record for Guilherme A. S. Pereira [Opens in a new window]  and
Elias J. R. Freitas
Guilherme A. S. Pereira*
Affiliation:
Department of Mechanical and Aerospace Engineering, West Virginia University, 1374 Evansdale Drive, Morgantown, WV 26506-6070, USA
Elias J. R. Freitas
Affiliation:
Federal Institute of Minas Gerais, Rua Jose Benedito 369, Santa Efigenia, Itabirito, MG 35450-000, Brazil
*
*Corresponding author. E-mail: guilherme.pereira@mail.wvu.edu
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Summary

This paper deals with the problem of navigating semi-autonomous mobile robots without global localization systems in unknown environments. We propose a planning-based obstacle avoidance strategy that relies on local maps and a series of short-time coordinate frames. With this approach, simple odometry and range information are sufficient to make the robot to safely follow the user commands. Different from reactive obstacle avoidance strategies, the proposed approach chooses a good and smooth local path for the robot. The methodology is evaluated using a mobile service robot moving in an unknown corridor environment populated with obstacles and people.

Keywords

Service robotsNavigationObstacle avoidanceProbabilistic planners

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Type
Articles
Information
Robotica , Volume 38 , Issue 11 , November 2020 , pp. 2080 - 2098
Copyright
Copyright © Cambridge University Press 2020

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