Group surfing: a pedestrian-based approach to sidewalk robot navigation

Yuqing Du, Nicholas J. Hetherington, Chu Lip Oon, Wesley P. Chan, Camilo Perez Quintero, Elizabeth Croft, H. F. MacHiel Van Der Loos

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has characteristics of both roads and indoor spaces. Like vehicles on roads, pedestrian movement often manifests as linear flows in opposing directions. On the other hand, pedestrians also form crowds and can exhibit much more random movements than vehicles. Classical algorithms are insufficient for safe navigation around pedestrians and remaining on the sidewalk space. Thus, our approach takes advantage of natural human motion to allow a robot to adapt to sidewalk navigation in a safe and socially-compliant manner. We developed a group surfing method which aims to imitate the optimal pedestrian group for bringing the robot closer to its goal. For pedestrian-sparse environments, we propose a sidewalk edge detection and following method. Underlying these two navigation methods, the collision avoidance scheme is human-aware. The integrated navigation stack is evaluated and demonstrated in simulation. A hardware demonstration is also presented.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation (ICRA)
EditorsJaydev P. Desai
Place of PublicationDanvers MA USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages6518-6524
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 2019
EventIEEE International Conference on Robotics and Automation 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019
https://ieeexplore.ieee.org/xpl/conhome/8780387/proceeding (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation 2019
Abbreviated titleICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19
Internet address

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