Interactive Motion Planning for Mobile Robot Navigation in Dynamic Environments
Satoshi Hoshino and Kenichiro Uchida
Department of Mechanical and Intelligent Engineering, Utsunomiya University
7-1-2 Yoto, Utsunomiya, Tochigi 321-8585, Japan
In dynamic environments, taking static and moving obstacles into consideration in motion planning for mobile robot navigation is a technical issue. In this paper, we use a single mobile robot, for which humans are moving obstacles. Since moving humans sometimes get in the way of the robot, it must avoid collisions with them. Furthermore, if a part of the environment is crowded with humans, it is better for the robot to detour around the congested area. For this navigational challenge, we focus on the interaction between humans and the robot, so this paper proposes a motion planner for successfully getting through the human-robot interaction. The interactive motion planner is based on the hybrid use of global and local path planners. Furthermore, the local path planner is executed repetitively during the navigation. Through the human-robot interaction, the robot is enabled not only to avoid the collisions with humans but also to detour around congested areas. The emergence of this movement is the main contribution of this paper. We discuss the simulation results in terms of the effectiveness of the proposed motion planner for robot navigation in dynamic environments that include humans.
-  R. E. Korf, “Real-Time Heuristic Search,” Artificial Intelligence, Vol.42, No.2-3, pp. 189-211, 1990.
-  D. Ferguson and A. Stentz, “Anytime RRTs,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 5369-5375, 2006.
-  E. Yoshida, K. Yokoi, and P. Gergondet, “Online Replanning for Reactive Robot Motion: Practical Aspects,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 18-22, 2010.
-  T. Fraichard, M. Hassoun, and C. Laugier, “Reactive Motion Planning in a Dynamic World,” IEEE Int. Conf. on Advanced Robotics, pp. 1028-1032, 1991.
-  E. Yoshida, C. Esteves, I. Belousov, J.-P. Laumond, T. Sakaguchi, and K. Yokoi, “Planning 3D Collision-free Dynamic Robotic Motion Through Iterative Reshaping,” IEEE Trans. on Robotics, Vol.24, No.5, pp. 1186-1198, 2008.
-  T. Tsubouchi, T. Naniwa, and S. Arimoto, “Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and Their Velocities,” J. Robot. Mechatron., Vol.8, No.1, pp. 58-66, 1996.
-  Y. Suzuki, S. Thompson, and S. Kagami, “Smooth Path Planning with Pedestrian Avoidance for Wheeled Robots,” J. Robot. Mechatron., Vol.22, No.1, pp. 21-27, 2010.
-  O. Khatib, “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” Int. J. of Robotics Research, Vol.5, No.1, pp. 90-98, 1986.
-  S. Hoshino and K. Maki, “Motion Planning of Multiple Mobile Robots Based on Artificial Potential for Human Behavior and Robot Congestion,” Distributed Autonomous Robotic Systems, pp. 311-324, 2016.
-  S. Hoshino and K. Maki, “Safe and Efficient Motion Planning of Multiple Mobile Robots based on Artificial Potential for Human Behavior and Robot Congestion,” Advanced Robotics, Vol.29, No.17, pp. 1095-1109, 2015.
-  J. P. van den Berg and M. H. Overmars, “Roadmap-based Motion Planning in Dynamic Environments,” IEEE Trans. on Robotics, Vol.21, No.5, pp. 885-897, 2005.
-  J. P. van den Berg and M. H. Overmars, “Kinodynamic Motion Planning on Roadmaps in Dynamic Environments,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4253-4258, 2007.
-  M. Yokozuka and O. Matsumoto, “A Reasonable Path Planning via Path Energy Minimization,” J. Robot. Mechatron., Vol.26, No.2, pp. 236-244, 2014.
-  P. Regier, S. Oß wald, P. Karkowski, and M. Bennewitz, “Foresighted Navigation through Cluttered Environments,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1437-1442, 2016.
-  L. Jaillet and T. Siméon, “Path Deformation Roadmaps: Compact Graphs with Useful Cycles for Motion Planning,” Int. J. of Robotics Research, Vol.27, No.11-12, pp. 1175-1188, 2008.
-  D. Helbing and P. Molnár, “Social Force model for Pedestrian Dynamics,” Physical Review E, Vol.51, No.5, pp. 4282-4286, 1995.