Human-aware dynamic path planning

dc.contributor.authorKorkmaz, Mehmet
dc.date.accessioned2021-12-08T05:11:09Z
dc.date.available2021-12-08T05:11:09Z
dc.date.issued2021
dc.departmentMühendislik Fakültesi
dc.description.abstractThis study is related to human-aware navigation (HAN) of a robot moving in a 2D plane. During the navigation process, the robot first finds a global path given start and goal points and it also dynamically scans the environment for possible new obstacles and rearranges its path plan as to those encountered ones. It is well-known fact that treating humans as an ordinary object by robots while passing them leads to humans feeling stressed since the actions of robots still are not explicit for them. For this reason, besides planning strategy secondly, it is also considered whether obstacles are human or non-human ones via the improved algorithm. By doing so, it is aimed for the robot to navigate in an environment considering human comfort. To examine this intention, two different path planning algorithms improved by dynamically classical and human obstacles aware scheme are tested on a home-like environment. According to the results, it has been observed that the robot dynamically plans its navigation framework given target points and new obstacles. Furthermore, it successfully achieves to keep distance from human obstacles based on the proxemics theory distance requirements.
dc.description.sponsorshipKocaeli University / Kocaeli University Technopark
dc.identifier.doi10.1109/INISTA52262.2021.9548618
dc.identifier.endpage-en_US
dc.identifier.isbn978-166543603-8
dc.identifier.issue-en_US
dc.identifier.scopusqualityN/A
dc.identifier.startpage-en_US
dc.identifier.urihttps:/dx.doi.org/10.1109/INISTA52262.2021.9548618
dc.identifier.urihttps://hdl.handle.net/20.500.12451/8885
dc.identifier.volume-en_US
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof2021 International Conference on INnovations in Intelligent SysTems and Applications, INISTA 2021 - Proceedings
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/embargoedAccess
dc.subjectHuman-aware Navigation
dc.subjectMobile Robot
dc.subjectPath Planning
dc.subjectProjecimse
dc.titleHuman-aware dynamic path planning
dc.typeConference Object

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
[ X ]
İsim:
korkmaz-mehmet-2021.pdf
Boyut:
1.97 MB
Biçim:
Adobe Portable Document Format
Açıklama:
Tam Metin / Full Text
Lisans paketi
Listeleniyor 1 - 1 / 1
[ X ]
İsim:
license.txt
Boyut:
1.44 KB
Biçim:
Item-specific license agreed upon to submission
Açıklama: