With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However, even in fully automatized warehouse systems the need for human intervention frequently arises, whether because of maintenance or because of fulfilling specific orders, thus bringing mobile robots and humans ever closer in an integrated warehouse environment. In order to ensure smooth and efficient operation of such a warehouse, paths of both robots and humans need to be carefully planned; however, due to the possibility of humans deviating from the assigned path, this becomes an even more challenging task. Given that, the supervising system should be able to recognize human intentions and its alternative paths in real-time. In this paper, we propose a framework for human deviation detection and intention recognition which outputs the most probable paths of the humans workers and the planner that acts accordingly by replanning for robots to move out of the human's path. Experimental results demonstrate that the proposed framework increases total number of deliveries, especially human deliveries, and reduces human-robot encounters.


    Access

    Download


    Export, share and cite



    Title :

    Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems



    Publication date :

    2020-09-15



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629






    Efficient human 3D localization and free space segmentation for human-aware mobile robots in warehouse facilities

    Arapis, Dimitrios / Jami, Milad / Nalpantidis, Lazaros | BASE | 2023

    Free access

    Driving Intention Recognition of Human Drivers in Mixed Traffic Flow

    Fang, Huazhen / Liu, Li / Gu, Qing et al. | IEEE | 2022


    INTENTION RECOGNITION

    AHMAD AL-DAHLE / B A HESSEL | European Patent Office | 2021

    Free access