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.
HexGuide: A Hexapod Robot for Autonomous Blind Guidance in Challenging Environments
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Hexapod robot , Blind Guidance , Model predictive control Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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