Context-Aware Navigation of Intelligent Mobile Robot in Multi-human Environment
Date Issued
2011
Date
2011
Author(s)
Li, Jiun-Yi
Abstract
This thesis proposes a new navigation framework for mobile robot to maneuver in an unknown and populated environment. Without being given the knowledge of the surrounding environment, the robot has to use reactive mechanism to deal with unforeseen circumstances. To achieve this, we develop a context-aware navigation scheme that enables the robot to perceive the current context of the environment and make an appropriate reaction. The robot will actively detect humans and extract geometric features by only using a single laser range finder. So far, many rules have been proposed or formulated based on human''s appearance to extract human information. In this thesis, after obtaining the human information from the human tracking module, the robot is capable of determining human''s interaction intention. Humans are no longer treated as obstacles all the time during the navigation process. Instead, the concept of Human Sensitive Field is adopted in order to ensure intactness of the personal space, the robot will take human feeling into consideration when it encounters the human. Furthermore, the robot will make an appropriate action in accordance with the context it encounters. In particular, to deal with the situation when the robot encounters crowds, we develop a short-term path planning technique using lattice-based graph search while applying Extended Kalman Filter to obtain more reliable human motion prediction in this situation. Based on the proposed Context-Aware navigation, the robot is able to navigate through a multi-human environment in a smooth and socially acceptable manner.
Subjects
Context-Aware
Human-Oriented
Human Robot Interaction
Type
thesis
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