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Shared-Autonomy Navigation for Mobile Robots Driven by a Door Detection Module

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AI*IA 2019 – Advances in Artificial Intelligence (AI*IA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11946))

Abstract

Shared-autonomy approaches are the most appealing for what concerns the control of assistive devices such as wheelchairs and mobile robots, designed to aid disabled and elderly people. In this paper, we propose a shared-autonomy navigation for mobile robots, that combines the user’s interaction as well as the robots’ perception and the environment knowledge, with the information of important landmarks, namely the doors. In order to facilitate the control of the robot, our system exploits a door detection module, aiming to detect doors and especially to identify their open/close status, making the robot pass through narrow doorways without any user’s intervention. We tested the proposed system on a real mobile robot to verify the feasibility.

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Notes

  1. 1.

    https://github.com/ros-planning/navigation.

  2. 2.

    https://pjreddie.com/yolo/.

  3. 3.

    https://storage.googleapis.com/openimages/web/index.html.

  4. 4.

    An illustrative video is available at https://youtu.be/LuJNzdG143s.

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Authors and Affiliations

  1. Intelligent Autonomous System Lab, Department of Information Engineering, University of Padova, Padua, Italy

    Gloria Beraldo, Enrico Termine & Emanuele Menegatti

Authors
  1. Gloria Beraldo
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  2. Enrico Termine
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  3. Emanuele Menegatti
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Corresponding author

Correspondence to Gloria Beraldo .

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Editors and Affiliations

  1. University of Calabria, Rende, Italy

    Mario Alviano

  2. University of Calabria, Rende, Italy

    Gianluigi Greco

  3. University of Calabria, Rende, Italy

    Francesco Scarcello

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Beraldo, G., Termine, E., Menegatti, E. (2019). Shared-Autonomy Navigation for Mobile Robots Driven by a Door Detection Module. In: Alviano, M., Greco, G., Scarcello, F. (eds) AI*IA 2019 – Advances in Artificial Intelligence. AI*IA 2019. Lecture Notes in Computer Science(), vol 11946. Springer, Cham. https://doi.org/10.1007/978-3-030-35166-3_36

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  • DOI: https://doi.org/10.1007/978-3-030-35166-3_36

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  • Online ISBN: 978-3-030-35166-3

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