Sampling-based motion planning for guide robots considering user pose uncertainty

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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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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