Sidewalk delivery robot navigation: a pedestrian-based approach

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 PaperOther


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 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 pedestriansparse environments, we propose a sidewalk edge detection and
following method. Underlying these two navigation methods, the collision avoidance scheme is human-aware. Components of the navigation stack are demonstrated in simulation and an integrated simulation and real-world experiment are discussed
Original languageEnglish
Title of host publicationProceedings of Human-Aiding Robotics
Subtitle of host publicationOpen Issues and Future Direction
EditorsAngela Faragasso
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages5
Publication statusPublished - 2018
EventHuman-Aiding Robotics: Open Issues and Future Direction 2018 - Madrid, Spain
Duration: 5 Oct 20185 Oct 2018


ConferenceHuman-Aiding Robotics: Open Issues and Future Direction 2018
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