In this paper we present the HexGuide, a hexapod guide robot designed to provide guidance to visually impaired people in challenging environments. Firstly, we propose an improved A* path planning algorithm that incorporates an artificial potential field (APF) factor into the evaluation function and optimizes the turning point to generate a safe and collision-free initial path. Moreover, we propose a Model Predictive Control (MPC)-based motion tracking controller for path tracking and a locomotion control model for the robot to manage the swing of each single leg. Furthermore, we develop an obstacle avoidance strategy and a traffic light recognition method for the robot. The experimental results show that HexGuide can excellently accomplish the task of guiding visually impaired people in challenging environments such as airports and intersections.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    HexGuide: A Hexapod Robot for Autonomous Blind Guidance in Challenging Environments


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Wang, Zelin (author) / Yang, Limin (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    HexGuide: A Hexapod Robot for Autonomous Blind Guidance in Challenging Environments

    Wang, Zelin / Yang, Limin / Liu, Xu et al. | TIBKAT | 2023


    Hexapod robot

    CHEN YU / XIA WUYU / CAO LIANGLEI | European Patent Office | 2024

    Free access

    Autonomous Robot for Pavement Construction in Challenging Environments

    Maynard, C. / Williams, R. L. / Bosscher, P. et al. | British Library Conference Proceedings | 2006


    Hexapod robot

    European Patent Office | 2015

    Free access

    Autonomous Robot for Pavement Construction in Challenging Environments

    Maynard, C. / Williams, R. L. / Bosscher, P. et al. | British Library Conference Proceedings | 2006