In this paper, we introduce a detailed realization of industrial mobile robot navigation abilities among human workers. We extend the navigation layers with state of the art person detection and adapt them to influence trajectory planning. We present our edge-based architecture, how time-critical onboard components offloaded from the robot, and how person detection is integrated into navigation. The system also incorporates social awareness, allowing the robot to take into account the presence and actions of people in its environment and adjust its navigation in line with the requirements of industry 5.0. The realization is evaluated in a series of experiments where results show that it is able to effectively navigate in industrial environment with people present, maintain safe distance and avoid collision with people or other objects.
Balogh Marcell, Sallai Gyula, Biczók Gergely, Vidács Attila, Magyar Gaábor
2023-04-24
Támogató: Ericsson