We present a Lloyd-based navigation solution for robots that are required to move in a dynamic environment, where static obstacles (e.g, furnitures, parked cars) and unpredicted moving obstacles (e.g., humans, other robots) have to be detected and avoided on the fly. The algorithm can be computed in real-time and falls in the category of the reactive methods. Moreover, we propose an extension to the multi-agent case that deals with cohesion and cooperation between agents. The goodness of the method is proved through extensive simulations and, for the single agent navigation in human-shared environment, also with experiments on a unicycle-like robot.

Lloyd-based Approach for Robots Navigation in Human-shared Environments / Boldrer, Manuel; Palopoli, Luigi; Fontanelli, Daniele. - ELETTRONICO. - (2020), pp. 6982-6989. ((Intervento presentato al convegno IROS 2020 tenutosi a Las Vegas nel 25th-29th October 2020 [10.1109/IROS45743.2020.9341272].

Lloyd-based Approach for Robots Navigation in Human-shared Environments

Boldrer, Manuel;Palopoli, Luigi;Fontanelli, Daniele
2020

Abstract

We present a Lloyd-based navigation solution for robots that are required to move in a dynamic environment, where static obstacles (e.g, furnitures, parked cars) and unpredicted moving obstacles (e.g., humans, other robots) have to be detected and avoided on the fly. The algorithm can be computed in real-time and falls in the category of the reactive methods. Moreover, we propose an extension to the multi-agent case that deals with cohesion and cooperation between agents. The goodness of the method is proved through extensive simulations and, for the single agent navigation in human-shared environment, also with experiments on a unicycle-like robot.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
Piscataway, NJ
IEEE
9781728162133
Boldrer, Manuel; Palopoli, Luigi; Fontanelli, Daniele
Lloyd-based Approach for Robots Navigation in Human-shared Environments / Boldrer, Manuel; Palopoli, Luigi; Fontanelli, Daniele. - ELETTRONICO. - (2020), pp. 6982-6989. ((Intervento presentato al convegno IROS 2020 tenutosi a Las Vegas nel 25th-29th October 2020 [10.1109/IROS45743.2020.9341272].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11572/286853
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