Mosquera Maturana, Juan Sebastian, Hernández, Juan David  ORCID: https://orcid.org/0000-0002-9593-6789 and Romero Cano, Victor ORCID: https://orcid.org/0000-0003-2910-5116
2025.
Sampling-based motion planning for guide robots considering user pose uncertainty.
Presented at: 25th Towards Autonomous Robotic Systems (TAROS) Conference,
London, UK,
21-23 August 2024.
Published in: Huda, M. N., Wang, M. and Kalganova, T. eds.
Towards Autonomous Robotic Systems: Proceedings, Part 1.
, vol.15051
Springer,
10.1007/978-3-031-72059-8_14
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Official URL: https://doi.org/10.1007/978-3-031-72059-8_14
Abstract
In this paper, we propose a framework to address the problem of guiding a person within a semi-structured environment in a socially acceptable manner that prioritises safety and comfort. We propose an algorithm based on the optimal Rapidly exploring Random Tree (RRT*) algorithm for path planning. Our proposal utilises Dubins curves and takes into account the user during path planning to generate a navigation path that allows the robot to follow a feasible path that can also be navigated by the user. A comparative analysis against standard path planning based on the RRT* algorithm and the Social Force Model validates the efficacy of our proposed algorithm.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Date Type: | Publication |
| Status: | Published |
| Schools: | Schools > Computer Science & Informatics |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Publisher: | Springer |
| ISBN: | 978-3-031-72058-1 |
| Date of First Compliant Deposit: | 5 July 2024 |
| Date of Acceptance: | 12 May 2024 |
| Last Modified: | 13 May 2025 11:27 |
| URI: | https://orca.cardiff.ac.uk/id/eprint/170371 |
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