Authors:
Max Stähr
;
Andrew M. Wallace
and
Neil M. Robertson
Affiliation:
Heriot Watt University, United Kingdom
Keyword(s):
Mobile Robot Sensor Placement, Collision Avoidance, Human Robot Cooperation.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Optimization Algorithms
;
Perception and Awareness
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Continuous sensing of the environment from a mobile robot perspective can prevent harmful collisions between human and mobile service robots. However, the overall collision avoidance performance depends strongly on the optimal placement of multiple depth sensors on the mobile robot and maintains flexibility of the working area. In this paper, we present a novel approach to optimal sensor placement based on the visibility of the human in the robot environment combined with a quantified risk of collision. Human visibility
is determined by ray tracing from all possible camera positions on the robot surface, quantifying safety based on the speed and direction of the robot throughout a pre-determined task. A cost function based on discrete cells is formulated and solved numerically for two scenarios of increasing complexity, using a CUDA implementation to reduce computation time.