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Authors: Simon Thomsen 1 ; Martin Davidsen 1 ; Lakshadeep Naik 2 ; Avgi Kollakidou 2 ; Leon Bodenhagen 2 and Norbert Krüger 2

Affiliations: 1 Faculty of Engineering, University of Southern Denmark, Campusvej 55, 5230 Odense M, Denmark ; 2 SDU Robotics, Maersk Mc-Kinney Mollar Institute (MMMI), Faculty of Engineering, University of Southern Denmark, Campusvej 55, Odense M, Denmark

Keyword(s): Mobile Robotics, Human-Robot-Interaction.

Abstract: Emergency brakes applied by mobile robots to avoid collision with humans often block the traffic in narrow hallways. The ability to smoothly navigate in such environments can enable the deployment of robots in shared spaces with humans such as hospitals, cafeterias and so on. The standard navigation stacks used by these robots only use spatial information of the environment while planning its motion. In this work, we propose a predictive approach for handling dynamic objects such as humans. The use of this temporal information enables a mobile robot to predict collisions early enough and avoid the use of emergency brakes. We validated our approach in a real-world set-up at a busy university hallway. Our experiments show that the proposed approach results in fewer stops compared to the standard navigation stack only using spatial information.

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Paper citation in several formats:
Thomsen, S.; Davidsen, M.; Naik, L.; Kollakidou, A.; Bodenhagen, L. and Krüger, N. (2023). Improving Throughput of Mobile Robots in Narrow Aisles. In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - HUCAPP; ISBN 978-989-758-634-7; ISSN 2184-4321, SciTePress, pages 221-228. DOI: 10.5220/0011717500003417

@conference{hucapp23,
author={Simon Thomsen. and Martin Davidsen. and Lakshadeep Naik. and Avgi Kollakidou. and Leon Bodenhagen. and Norbert Krüger.},
title={Improving Throughput of Mobile Robots in Narrow Aisles},
booktitle={Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - HUCAPP},
year={2023},
pages={221-228},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011717500003417},
isbn={978-989-758-634-7},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - HUCAPP
TI - Improving Throughput of Mobile Robots in Narrow Aisles
SN - 978-989-758-634-7
IS - 2184-4321
AU - Thomsen, S.
AU - Davidsen, M.
AU - Naik, L.
AU - Kollakidou, A.
AU - Bodenhagen, L.
AU - Krüger, N.
PY - 2023
SP - 221
EP - 228
DO - 10.5220/0011717500003417
PB - SciTePress

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