Safe Predictive Mobile Robot Navigation in Aware Environments

Michael Arndt, Karsten Berns

Abstract

It is a common goal to improve safety and performance of mobile indoor robots by predicting the movements of people in the surroundings. In contrast to many related works which exclusively employ sensors mounted on mobile robots, this work shows a method to achieve this goal in a smart environment where external sensors are used to sense people’s positions. By using probabilistic models and filters, the evolution of the environment’s state is predicted and optimal paths with respect to safety and performance are planned. Experiments in reality and in a simulation environment show the applicability in real-world scenarios and the advantages over classical path planning approaches.

References

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Paper Citation


in Harvard Style

Arndt M. and Berns K. (2015). Safe Predictive Mobile Robot Navigation in Aware Environments . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 15-23. DOI: 10.5220/0005509500150023


in Bibtex Style

@conference{icinco15,
author={Michael Arndt and Karsten Berns},
title={Safe Predictive Mobile Robot Navigation in Aware Environments},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={15-23},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005509500150023},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Safe Predictive Mobile Robot Navigation in Aware Environments
SN - 978-989-758-123-6
AU - Arndt M.
AU - Berns K.
PY - 2015
SP - 15
EP - 23
DO - 10.5220/0005509500150023