Proactive avoidance of moving obstacles for a service robot utilizing a behavior-based control

A main challenge in the application of service robotics is safe and reliable navigation of robots in human everyday environments. Supermarkets, which are chosen here as an example, pose a challenging scenario because they usually have a cluttered and nested character. The robot has to avoid collisio...

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Bibliographic Details
Main Authors: Goller, M, Steinhardt, F, Kerscher, T, Marius Zollner, J, Dillmann, R
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Dynamics
Probabilistic logic
Robot kinematics
Safety
Three dimensional displays
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Summary:A main challenge in the application of service robotics is safe and reliable navigation of robots in human everyday environments. Supermarkets, which are chosen here as an example, pose a challenging scenario because they usually have a cluttered and nested character. The robot has to avoid collisions with static and even with moving obstacles while interacting with nearby humans or a dedicated user respectively. This paper presents a hierarchical approach for the proactive avoidance of moving objects as it is used on the robot shopping trolley InBOT. The behavior-based control (bbc) of InBOT is extended by a reflex and a reactive behavior to ensure adequate reaction times when confronted with a possible collision. On top of the bbc a spatio-temporal planner is situated which is able to predict environmental changes and therefore can generate a safe movement sequence accordingly.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5651506