This paper describes a navigation system in a dynamic environment for a two-wheeled inverted pendulum mobile robot, PMR. Our system is organized by localization, detection and tracking of pedestrians, and trajectory planner. The localization is robust to effects of moving obstacles and pitching movements of the robot, and the trajectory planner creates a path with a certain smoothness considering movements of pedestrians. In addition, the planner introduces strategies to avoid pedestrians to be friendly to pedestrians around the robot. Besides, our system can run on two laptop PCs in real time. Finally, we show experimental results as well.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-time navigation for a personal mobility in an environment with pedestrians


    Contributors:


    Publication date :

    2009-09-01


    Size :

    1124862 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    A Novel Movement Model for Pedestrians Suitable for Personal Navigation

    Khider, Mohammed / Kaiser, Susanna / Robertson, Patrick et al. | German Aerospace Center (DLR) | 2008

    Free access


    Evaluation of the Effects of a Personal Mobility Vehicle on Multiple Pedestrians Using Personal Space

    Pham, Thai Quoc / Nakagawa, Chihiro / Shintani, Atsuhiko et al. | IEEE | 2015


    Harmonious Robot Navigation Strategies for Pedestrians

    Nakaoka, Shintaro / Yorozu, Ayanori / Takahashi, Masaki | Springer Verlag | 2022