scholarly journals An Evaluation of Three Different Infield Navigation Algorithms

2019 ◽  
Author(s):  
Peter Bernad ◽  
Peter Lepej ◽  
Črtomir Rozman ◽  
Karmen Pažek ◽  
Jurij Rakun
Keyword(s):  
Navigation Algorithms

scholarly journals Determining Shape and Size of Personal Space of a Human when Passed by a Robot

2021 ◽  
Author(s):  
Margot M. E. Neggers ◽  
Raymond H. Cuijpers ◽  
Peter A. M. Ruijten ◽  
Wijnand A. IJsselsteijn
Keyword(s):  
Mobile Robots ◽  
Humanoid Robot ◽  
Personal Space ◽  
Human Robot Interaction ◽  
Autonomous Mobile Robots ◽  
Robot Interaction ◽  
Human Comfort ◽  
Navigation Algorithms ◽  
Insight Into ◽  
Shape And Size

AbstractAutonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals.

scholarly journals A Probabilistic Model for Real-Time Semantic Prediction of Human Motion Intentions from RGBD-Data

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4141
Author(s):  
Wouter Houtman ◽  
Gosse Bijlenga ◽  
Elena Torta ◽  
René van de Molengraft
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Probabilistic Model ◽  
Real Life ◽  
Human Motion ◽  
Model Based ◽  
Multiple Hypotheses ◽  
Navigation Algorithms ◽  
The Right ◽  
Motion Behavior

For robots to execute their navigation tasks both fast and safely in the presence of humans, it is necessary to make predictions about the route those humans intend to follow. Within this work, a model-based method is proposed that relates human motion behavior perceived from RGBD input to the constraints imposed by the environment by considering typical human routing alternatives. Multiple hypotheses about routing options of a human towards local semantic goal locations are created and validated, including explicit collision avoidance routes. It is demonstrated, with real-time, real-life experiments, that a coarse discretization based on the semantics of the environment suffices to make a proper distinction between a person going, for example, to the left or the right on an intersection. As such, a scalable and explainable solution is presented, which is suitable for incorporation within navigation algorithms.

Robot navigation algorithms using learned spatial graphs

Robotica ◽  
1986 ◽  
Vol 4 (2) ◽  
pp. 93-100 ◽  
Author(s):  
S. S. Iyengar ◽  
C. C. Jorgensen ◽  
S. V. N. Rao ◽  
C. R. Weisbin
Keyword(s):  
Robot Navigation ◽  
Sensor Data ◽  
Two Dimensional ◽  
Continuous Transition ◽  
Spatial Graph ◽  
Spatial Graphs ◽  
Navigation Algorithms ◽  
Sensor Information ◽  
Navigation Planning ◽  
Available Information

SUMMARYFinding optimal paths for robot navigation in a known terrain has been studied for some time but, in many important situations, a robot would be required to navigate in completely new or partially explored terrain. We propose a method of robot navigation which requires no pre-learned model, makes maximal use of available information, records and synthesizes information from multiple journeys, and contains concepts of learning that allow for continuous transition from local to global path optimality. The model of the terrain consists of a spatial graph and a Voronoi diagram. Using acquired sensor data, polygonal boundaries containing perceived obstacles shrink to approximate the actual obstacles surfaces, free space for transit is correspondingly enlarged, and additional nodes and edges are recorded based on path intersections and stop points. Navigation planning is gradually accelerated with experience since improved global map information minimizes the need for further sensor data acquisition. Our method currently assumes obstacle locations are unchanging, navigation can be successfully conducted using two-dimensional projections, and sensor information is precise.

Safe Navigation Algorithm for Autonomous Underwater Vehicles

2021 ◽  
Vol 29 (1) ◽  
pp. 97-110
Author(s):  
V.S. Bykova ◽  
◽  
A.I. Mashoshin ◽  
I.V. Pashkevich ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Limited Size ◽  
Safe Navigation ◽  
Navigation Algorithm ◽  
Navigation Algorithms ◽  
Ice Edge

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

scholarly journals Three-Dimensional Indoor Fire Evacuation Routing

2020 ◽  
Vol 9 (10) ◽  
pp. 558
Author(s):  
Yan Zhou ◽  
Yuling Pang ◽  
Fen Chen ◽  
Yeting Zhang
Keyword(s):  
Routing Algorithm ◽  
Three Dimensional ◽  
Indoor Navigation ◽  
A Algorithm ◽  
Indoor Space ◽  
Navigation Algorithms ◽  
Fire Evacuation ◽  
Fire Scene ◽  
Evacuation Routing ◽  
Evacuation Route

Traditional indoor navigation algorithms generally only consider the geometrical information of indoor space. However, the environmental information and semantic parameters of a fire are also important for evacuation routing in the case of a fire. It is difficult for traditional indoor navigation algorithms to dynamically find an indoor path when a fire develops. To address this problem, we developed a multi-semantic constrained three-dimensional (3D) indoor fire evacuation routing method that considers multi-dimensional indoor fire scene-related semantics, such as path accessibility, path recognition degree, and fire parameters. Our method enhances the navigation semantics of indoor space by extending the fire-related components of indoor model based on IndoorGML and integrating location semantics of IndoorLocationGML. We also propose quantifiable indoor fire-oriented routing semantics and establish a navigation cost function that evaluates semantic changes during a fire. We designed an indoor routing algorithm with multiple semantic constraints based on the A* algorithm. The indoor routing results were analyzed and compared in simulation experiments. The experimental results showed that the proposed model can remove unusable nodes and edges from the obtained navigation path and provides a safer and more effective evacuation route than traditional algorithms.

Research and Analysis of Accuracy of Location Estimation in Inertial Navigation System

2016 ◽  
Vol 817 ◽  
pp. 308-316 ◽  
Author(s):  
Piotr Rajchowski ◽  
Krzysztof Cwalina ◽  
Jarosław Sadowski
Keyword(s):  
Navigation System ◽  
Indoor Environment ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Digital Signal ◽  
Location Estimation ◽  
Navigation Algorithms ◽  
Movement Parameters ◽  
Measuring Unit ◽  
Made In

In the article the research and analysis of digital signal processing and its influence on accuracy of location estimation in developed inertial navigation system was presented. The purpose of the system is to localize moving people in indoor environment. During research a measuring unit for recording selected movement parameters was made. In the article were also described author’s inertial navigation algorithms.

Sign in / Sign up

Export Citation Format

Share Document