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Mobile Robot Navigation in Unknown Dynamic Environment Inspired by Human Pedestrian Behavior

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Progress in Advanced Computing and Intelligent Engineering

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 714))

Abstract

Navigation in an unknown dynamic environment is one of the key challenges in mobile robotics. This paper proposes a scheme, inspired by human pedestrian behavior, for navigation of a mobile robot in an a priori unknown dynamic environment. An occupancy grid map has been built using onboard sonar sensors through successive sensor information. Inspired by human pedestrian behavior to maintain a safe direction and distance to avoid collisions with obstacles, the proposed navigation scheme trail a path for the robot following a forbidden region map concept with a velocity proportional to the distance and rate at which the obstacles are approaching or receding the robot. The reachable region of robot navigation horizon is based on the motion model predictability of the obstacles. The navigation scheme is deployed on a Fire Bird V mobile robot. The experimental result shows that the robot is able to follow a smooth and time-efficient path avoiding collisions with the mobile and stationary obstacles.

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Acknowledgment

Centre of Excellence in Machine Learning and Big Data Analysis, Tezpur University funded by Ministry of HRD, Govt. of India.

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Authors and Affiliations

  1. Embedded Systems and Robotics Lab, Tezpur University, Tezpur, 784028, India

    Nayan M. Kakoty, Mridusmita Mazumdar & Durlav Sonowal

Authors
  1. Nayan M. Kakoty
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  2. Mridusmita Mazumdar
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  3. Durlav Sonowal
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Corresponding author

Correspondence to Nayan M. Kakoty .

Editor information

Editors and Affiliations

  1. Department of Computer Science, Rama Devi Women’s University, Bhubaneswar, Odisha, India

    Chhabi Rani Panigrahi

  2. Department of Computer Science, Central University of Rajasthan, Ajmer, Rajasthan, India

    Arun K. Pujari

  3. Department of Computer Science and Engineering, Indian Institute of Technology Kharagpur, Kharagpur, India

    Sudip Misra

  4. Department of Computer Science, Rama Devi Women’s University, Bhubaneswar, Odisha, India

    Bibudhendu Pati

  5. Department of Computer Science and Information Engineering (CSIE), Providence University, Taichung, Taiwan

    Kuan-Ching Li

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Cite this paper

Kakoty, N.M., Mazumdar, M., Sonowal, D. (2019). Mobile Robot Navigation in Unknown Dynamic Environment Inspired by Human Pedestrian Behavior. In: Panigrahi, C., Pujari, A., Misra, S., Pati, B., Li, KC. (eds) Progress in Advanced Computing and Intelligent Engineering. Advances in Intelligent Systems and Computing, vol 714. Springer, Singapore. https://doi.org/10.1007/978-981-13-0224-4_40

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  • DOI: https://doi.org/10.1007/978-981-13-0224-4_40

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-13-0223-7

  • Online ISBN: 978-981-13-0224-4

  • eBook Packages: EngineeringEngineering (R0)

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