Mobile Robot Pedestrian Avoidance Using Path Intersection Timing
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Solution Overview
Problem
Current mobile robot navigation techniques often prioritize collision avoidance over pedestrian comfort, leading to uncomfortably close proximity to pedestrians, which can cause discomfort.
Innovation Solution
A computer-implemented method and system that estimate the intersection point and time of a mobile robot's path with a pedestrian's path, allowing the robot to implement strategies such as maintaining speed, changing direction, or accelerating to avoid concurrent overlap, thereby enhancing pedestrian comfort and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If current navigational techniques are used to plan collision-free paths, then collision avoidance is improved, but pedestrian comfort deteriorates due to uncomfortably close proximity
Solution Approach 1:
The system performs preliminary estimation of the pedestrian's path and expected intersection point before the mobile robot reaches the intersection. This allows the robot to plan and execute avoidance maneuvers in advance, ensuring both collision avoidance and maintaining comfortable distances from pedestrians
Solution Approach 2:
The system dynamically adjusts the mobile robot's path based on real-time pedestrian position data and estimated intersection points. The robot can switch between different avoidance strategies (maintaining speed, changing direction, accelerating) depending on the predicted pedestrian trajectory, creating a dynamic balance between collision avoidance and pedestrian comfort
2Object-affected harmful factors
If the mobile robot maintains a safe distance from pedestrians, then pedestrian comfort is improved, but the robot's navigation efficiency and speed deteriorate
Solution Approach 1:
By estimating the pedestrian's expected path and intersection point in advance, the system can plan avoidance maneuvers that minimize deviation from the original path. This preliminary planning allows the robot to maintain efficient navigation while still ensuring pedestrian comfort through controlled path adjustments
Solution Approach 2:
The system changes navigation parameters (speed, direction) dynamically based on the predicted pedestrian trajectory and intersection timing. By adjusting these parameters optimally, the robot maintains navigation efficiency while ensuring comfortable distances are kept from pedestrians
Data Source
AI summary
A system and method for implementing pedestrian avoidance strategies for a mobile robot that include receiving position data of a pedestrian and the mobile robot from systems of the mobile robot and estimating positions of the pedestrian and the mobile robot based on the position data. The system and method also include determining an expected intersection point of paths of the pedestrian and the mobile robot and an estimated time for the pedestrian to reach and cross the expected intersection point of the paths. The system and method further include implementing a pedestrian avoidance strategy based on the positions of the pedestrian and the mobile robot and the expected point in time when the pedestrian will reach and cross the expected intersection point of the paths.