Next Article in Journal
Sensing of the Engine Cylinder Valves Motion
Previous Article in Journal
Assessment of Micromechanically-Induced Uncertainties in the Electromechanical Response of MEMS Devices
Article Menu
Issue 2 (ECSA-3 2016) cover image

Article Versions

Export Article

Open AccessProceedings
Proceedings 2017, 1(2), 37; doi:10.3390/ecsa-3-D008

Intelligent Robot Guidance in Fixed External Camera Network for Navigation in Crowded and Narrow Passages

1
Lab of Robotics and Dynamics, Graduate School of Engineering, Hokkaido University, Sapporo 060-0808, Japan
2
Lab of Robotics and Dynamics, Faculty of Engineering, Hokkaido University, Sapporo 060-0808, Japan
Presented at the 3rd International Electronic Conference on Sensors and Applications, 15–30 November 2016; Available online: https://sciforum.net/conference/ecsa-3.
*
Author to whom correspondence should be addressed.
Published: 15 November 2016
Download PDF [10338 KB, uploaded 4 July 2017]

Abstract

Autonomous indoor service robots use the same passages which are used by people for navigation to specific areas. These robots are equipped with visual sensors, laser or sonar based range estimation sensors to avoid collision with obstacles, people, and other moving robots. However, these sensors have a limited range and are often installed at a lower height (mostly near the robot base) which limits the detection of far-off obstacles. In addition, these sensors are positioned to see forward, and robot is often ’blind’ about objects (ex. people and robots) moving behind the robot which increases the chances of collision. In places like warehouses, the passages are often narrow which can cause deadlocks. We propose to use a network of external cameras fixed on the ceiling (ex. surveillance cameras) to guide the robots by informing about moving obstacles from behind and far-off regions. This enables the robot to have a ’birds-eye view’ of the navigation space which enables it to take decisions in real-time to avoid the obstacles efficiently. The camera sensor network is also able to notify the robots about moving obstacles around blind-turns. A mutex based resource sharing scheme in camera sensor network is proposed which allows multiple robots to intelligently share narrow passages through which only one of the robots/person can pass at a given time. Experimental results in simulation and real scenarios show that the proposed method is effective in robot navigation in crowded and narrow passages.
Keywords: robot navigation; sensor network; efficient path planning in sensor network robot navigation; sensor network; efficient path planning in sensor network
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Ravankar, A.; Ravankar, A.; Kobayashi, Y.; Emaru, T. Intelligent Robot Guidance in Fixed External Camera Network for Navigation in Crowded and Narrow Passages. Proceedings 2017, 1, 37.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Proceedings EISSN 2504-3900 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top