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- Abdul Khaliq, Ali, 1987-, et al.
(författare)
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Point-to-point safe navigation of a mobile robot using stigmergy and RFID technology
- 2016
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Ingår i: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509037629 ; , s. 1497-1504
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Konferensbidrag (refereegranskat)abstract
- Reliable autonomous navigation is still a challenging problem for robots with simple and inexpensive hardware. A key difficulty is the need to maintain an internal map of the environment and an accurate estimate of the robot’s position in this map. Recently, a stigmergic approach has been proposed in which a navigation map is stored into the environment, on a grid of RFID tags, and robots use it to optimally reach predefined goal points without the need for internal maps. While effective,this approach is limited to a predefined set of goal points. In this paper, we extend this approach to enable robots to travel to any point on the RFID floor, even if it was not previously identified as a goal location, as well as to keep a safe distance from any given critical location. Our approach produces safe, repeatable and quasi-optimal trajectories without the use of internal maps, self localization, or path planning. We report experiments run in a real apartment equipped with an RFID floor, in which a service robot either reaches or avoids a user who wears slippers equipped with an RFID tag reader.
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| 2. |
- Khaliq, Ali Abdul, 1987-, et al.
(författare)
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Children playing with robots using stigmergy on a smart floor
- 2016
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Ingår i: 2016 Intl IEEE Conferences on Ubiquitous Intelligence & Computing, Advanced and Trusted Computing, Scalable Computing and Communications, Cloud and Big Data Computing, Internet of People, and Smart World Congress (UIC/ATC/ScalCom/CBDCom/IoP/SmartWorld). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509027712 ; , s. 1098-1103
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Konferensbidrag (refereegranskat)abstract
- Reliable and safe interaction is essential when humans and robots move in close proximity. In this paper, we present a stigmergic approach where humans interact with robots via a smart floor. Stigmergy has been widely studied in robotic systems, however, HRI has thus far not availed itself of stigmergic solutions. We realize a stigmergic medium via RFID tags embedded in the floor, and use these to enable robot navigation, human tracking, as well as the interaction between robots and humans. The proposed method allows to employ robots with minimal sensing and computation capabilities. The approach relies only on the RFID sensors and the information stored in the tags, and no internal map is required for navigation. We design and implement a prototype game which involves a robot and a child moving together in a shared space. The prototype demonstrates that the approach is reliable and adheres to given safety constraints when human and robot are moving within close proximity of each other.
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