Mapless urban robot navigation by following pedestrians

Sophie Buckeridge, Pamela Carreno-Medrano, Akansel Cosgun, Elizabeth Croft, Wesley P. Chan

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

Abstract

Navigating effectively and safely in unknown urban environments is a crucial ability for service robot applications such as last-mile package delivery. To reach the entrance of its target destination, the robot must make informed local and global path planning decisions. We present a mapless global planning strategy based on pedestrian following. Our method allows the robot to exploit natural routes taken by surrounding pedestrians to make informed and efficient path planning decisions for reaching its goal. The algorithm also includes a recovery system to assist the robot when insufficient progress is made (i.e. robot stuck in dead end). Once the robot is within the vicinity of the target building, a wall following behaviour is used to reach the entrance of the target building. Simulated experiments and a proof-of-concept demonstration on a real robot were shown to validate the approach.

Original languageEnglish
Title of host publication2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
EditorsBobby Gregg
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages6787-6792
Number of pages6
ISBN (Electronic)9781665491907
ISBN (Print)9781665491914
DOIs
Publication statusPublished - 2023
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2023 - Detroit, United States of America
Duration: 1 Oct 20235 Oct 2023
https://ieeexplore.ieee.org/xpl/conhome/10341341/proceeding (Proceedings)
https://ieee-iros.org/ (Website)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2023
Abbreviated titleIROS 2023
Country/TerritoryUnited States of America
CityDetroit
Period1/10/235/10/23
Internet address

Cite this