Method for navigating a mobile robot in an urban environment

Abstract

A method for navigating a mobile robot in an urban environment, characterized in that an information system is used containing a sensor module equipped with a digital camera, lidar, radar, inertial module and a time synchronization module, characterized in that they determine the position in space and the speed of movement of people in the robot's movement zone, determine static and dynamic objects that are an obstacle to the robot's movement, determine the time until the robot approaches a person or an artificial obstacle, form the trajectory of the robot's movement and determine the speed of the robot and the place of its stop, record data on the movement of the robot in a certain location in the memory of the information system, form a safety zone in the absence of full visibility of a person or expand the safety zone in the direction of possible movement of a person, with the help of the information system the generated information is transmitted via a communication channel to the robot, with the help of the eHMI interface they provide communication with people, the interface is synchronized with the dynamics of movement and is updated with a delay of no more than 100 ms, the radius of the safety zone is set at 1-2 m, in case of partial visibility they expand the zone by 0.5–2 m in the uncertainty sector, the speed of approaching a person is limited to no more than 6 km / h, and in the safety zone – 2–3 km / h, the recalculation of the trajectory in the presence of people is performed at a frequency of no less than 5–10 Hz.