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.


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    Title :

    Human-Aware Waypoint Planner for Mobile Robot in Indoor Environments


    Contributors:
    Yang, Sungwoo (author) / Kang, Sumin (author) / Kim, Myunghyun (author) / Kim, Donghan (author)


    Publication date :

    2022-12-01


    Size :

    692708 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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