Navigation strategy and path planning for autonomous road crossing by outdoor mobile robots

Aneesh Chand, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper describes the navigation strategy and path planning methods for autonomous road crossing by outdoor mobile robots in urban environments. Road-crossing is the part of outdoor robot navigation when a robot, while traveling along pedestrian sidewalks, approaches an intersection or a road crossing and needs to autonomously cross to reach the intended destination. In this work, the robot first autonomously travels along pedestrian sidewalks. For this, instead of using a pre-supplied navigational map, we endow the robot with the level of autonomy required such that it can spontaneously detect sidewalks and perceive a trajectory to navigate. While traveling along this trajectory, the robot performs real time detection of pedestrian push-button boxes. If a button box is detected, the robot deviates from the original trajectory and autonomously navigates to it. Next, using the detected button box as a landmark, the robot approaches the pedestrian crossing. It finally performs vision-based detection of the zebra crossings and generates the trajectory required to cross the road at a green signal. We demonstrate these methods are feasible by performing experiments with a custom built outdoor mobile robot using experimental conditions based on an actual pedestrian crossing in our university campus.

Original languageEnglish
Title of host publicationIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Pages161-167
Number of pages7
DOIs
Publication statusPublished - 2011
Externally publishedYes
EventIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 - Tallinn
Duration: 2011 Jun 202011 Jun 23

Other

OtherIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
CityTallinn
Period11/6/2011/6/23

Fingerprint

Motion planning
Mobile robots
Navigation
Robots
Trajectories
Crosswalks
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

Cite this

Chand, A., & Yuta, S. (2011). Navigation strategy and path planning for autonomous road crossing by outdoor mobile robots. In IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 (pp. 161-167). [6088588] https://doi.org/10.1109/ICAR.2011.6088588

Navigation strategy and path planning for autonomous road crossing by outdoor mobile robots. / Chand, Aneesh; Yuta, Shinichi.

IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011. 2011. p. 161-167 6088588.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chand, A & Yuta, S 2011, Navigation strategy and path planning for autonomous road crossing by outdoor mobile robots. in IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011., 6088588, pp. 161-167, IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011, Tallinn, 11/6/20. https://doi.org/10.1109/ICAR.2011.6088588
Chand A, Yuta S. Navigation strategy and path planning for autonomous road crossing by outdoor mobile robots. In IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011. 2011. p. 161-167. 6088588 https://doi.org/10.1109/ICAR.2011.6088588
Chand, Aneesh ; Yuta, Shinichi. / Navigation strategy and path planning for autonomous road crossing by outdoor mobile robots. IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011. 2011. pp. 161-167
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