Publication

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Abstract

This paper describes a novel method for non-holonomic robots of convex shape to avoid imminent collisions with moving obstacles. The method's purpose is to assist navigation in crowds by correcting steering from the robot's path planner or driver. We evaluate its performance using a custom simulator which replicates real crowd movements and corresponding metrics which quantify the agent's efficiency and the robot's impact on the crowd and count collisions. We implement and evaluate the method on the standing wheelchair Qolo. In our experiments, it drives in autonomous mode using on-board sensing (LiDAR, RGB-D camera and a system to track pedestrians) and avoids collisions with up to five pedestrians and passes through a door.

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Related concepts (22)
Pedestrian crossing
A pedestrian crossing (or crosswalk in American English) is a place designated for pedestrians to cross a road, street or avenue. The term "pedestrian crossing" is also used in the Vienna and Geneva Conventions, both of which pertain to road signs and road traffic. Marked pedestrian crossings are often found at intersections, but may also be at other points on busy roads that would otherwise be too unsafe to cross without assistance due to vehicle numbers, speed or road widths.
Pedestrian zone
Pedestrian zones (also known as auto-free zones and car-free zones, as pedestrian precincts in British English, and as pedestrian malls in the United States and Australia) are areas of a city or town reserved for pedestrian-only use and in which most or all automobile traffic is prohibited. Converting a street or an area to pedestrian-only use is called pedestrianisation.
Traffic collision
A traffic collision, also called a motor vehicle collision (car crash in case cars are involved in the collision), occurs when a vehicle collides with another vehicle, pedestrian, animal, road debris, or other moving or stationary obstruction, such as a tree, pole or building. Traffic collisions often result in injury, disability, death, and property damage as well as financial costs to both society and the individuals involved.
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