Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments

Sungwoo Yang; Sumin Kang; Myunghyun Kim; Donghan Kim

doi:10.1109/IRC55401.2022.00055

Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments

Sungwoo Yang
, Sumin Kang
, Myunghyun Kim
, Donghan Kim

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

As the utilization of robots in indoor environments increases, it has become common for humans and robots to co-exist in such environments. Most human-aware navigation algorithms only considered humans in the robot's field of view. However, in cases of L-shape corridors, there is a high possibility that human suddenly appears. To deal with this situation, we propose an improved corner detection algorithm and a novel waypoint planner, WPC. The proposed algorithm is validated through simulations using PedSim and Gazebo.

Original language	English
Title of host publication	Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	287-291
Number of pages	5
ISBN (Electronic)	9781665472609
DOIs	https://doi.org/10.1109/IRC55401.2022.00055
Publication status	Published - 2022
Event	6th IEEE International Conference on Robotic Computing, IRC 2022 - Virtual, Online, Italy Duration: 5 Dec 2022 → 7 Dec 2022

Publication series

Name	Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022

Conference

Conference	6th IEEE International Conference on Robotic Computing, IRC 2022
Country/Territory	Italy
City	Virtual, Online
Period	5/12/22 → 7/12/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Keywords

Corner-Detection
Corner-Turning
Human-Aware Robot Navigation
Human-Robot Interaction

Access to Document

10.1109/IRC55401.2022.00055

Cite this

Yang, S., Kang, S., Kim, M., & Kim, D. (2022). Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments. In Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022 (pp. 287-291). (Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC55401.2022.00055

@inproceedings{8094be81852142bdadf7c809ed78e4ec,

title = "Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments",

abstract = "As the utilization of robots in indoor environments increases, it has become common for humans and robots to co-exist in such environments. Most human-aware navigation algorithms only considered humans in the robot's field of view. However, in cases of L-shape corridors, there is a high possibility that human suddenly appears. To deal with this situation, we propose an improved corner detection algorithm and a novel waypoint planner, WPC. The proposed algorithm is validated through simulations using PedSim and Gazebo.",

keywords = "Corner-Detection, Corner-Turning, Human-Aware Robot Navigation, Human-Robot Interaction",

author = "Sungwoo Yang and Sumin Kang and Myunghyun Kim and Donghan Kim",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 6th IEEE International Conference on Robotic Computing, IRC 2022 ; Conference date: 05-12-2022 Through 07-12-2022",

year = "2022",

doi = "10.1109/IRC55401.2022.00055",

language = "English",

series = "Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "287--291",

booktitle = "Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022",

address = "United States",

}

Yang, S, Kang, S, Kim, M & Kim, D 2022, Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments. in Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022. Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022, Institute of Electrical and Electronics Engineers Inc., pp. 287-291, 6th IEEE International Conference on Robotic Computing, IRC 2022, Virtual, Online, Italy, 5/12/22. https://doi.org/10.1109/IRC55401.2022.00055

Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments. / Yang, Sungwoo; Kang, Sumin; Kim, Myunghyun et al.
Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 287-291 (Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments

AU - Yang, Sungwoo

AU - Kang, Sumin

AU - Kim, Myunghyun

AU - Kim, Donghan

PY - 2022

Y1 - 2022

N2 - As the utilization of robots in indoor environments increases, it has become common for humans and robots to co-exist in such environments. Most human-aware navigation algorithms only considered humans in the robot's field of view. However, in cases of L-shape corridors, there is a high possibility that human suddenly appears. To deal with this situation, we propose an improved corner detection algorithm and a novel waypoint planner, WPC. The proposed algorithm is validated through simulations using PedSim and Gazebo.

AB - As the utilization of robots in indoor environments increases, it has become common for humans and robots to co-exist in such environments. Most human-aware navigation algorithms only considered humans in the robot's field of view. However, in cases of L-shape corridors, there is a high possibility that human suddenly appears. To deal with this situation, we propose an improved corner detection algorithm and a novel waypoint planner, WPC. The proposed algorithm is validated through simulations using PedSim and Gazebo.

KW - Corner-Detection

KW - Corner-Turning

KW - Human-Aware Robot Navigation

KW - Human-Robot Interaction

UR - https://www.scopus.com/pages/publications/85147539636

U2 - 10.1109/IRC55401.2022.00055

DO - 10.1109/IRC55401.2022.00055

M3 - Conference contribution

AN - SCOPUS:85147539636

T3 - Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022

SP - 287

EP - 291

BT - Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE International Conference on Robotic Computing, IRC 2022

Y2 - 5 December 2022 through 7 December 2022

ER -

Yang S, Kang S, Kim M, Kim D. Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments. In Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 287-291. (Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022). doi: 10.1109/IRC55401.2022.00055

Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments

Abstract

Publication series

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Bibliographical note

Keywords

Access to Document

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