Accompanying persons with a mobile robot using motion prediction and probabilistic roadmaps

To ensure the safety of people, it is important that mobile robots operating in populated environments are able to take the motions of humans in their vicinity into account. An especially demanding task in this respect is accompanying a person walking through an unknown and busy environment, because it requires the robot to stay close to his client and simultaneously prevent bumping into any passers-by. This paper presents a local navigation planning approach for collision avoidance, which aims at achieving this goal. The presented technique uses probabilistic roadmaps to plan collision-free paths to a given target location relative to the robot. A laser-based people tracking component is used to estimate the motions of humans in the robot's surrounding, and a potential field method is applied for predicting the humans' future trajectories based on this information. In addition to preventing collisions, the predictions enable us to choose appropriate target locations relative to the person being attended. We tested our method on real robots and in simulations. The experiments carried out in an office environment confirm that the integrated motion prediction actually improves the performance of the collision avoidance and the robot's ability to stay close to the client it accompanies.