Depth sensor placement for human robot cooperation

Max Stähr, Andrew M. Wallace, Neil Robertson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Continuous sensing of the environment from a mobile robot perspective can prevent harmful collisions between human and mobile service robots. However, the overall collision avoidance performance depends strongly on the optimal placement of multiple depth sensors on the mobile robot and maintains flexibility of the working area. In this paper, we present a novel approach to optimal sensor placement based on the visibility of the human in the robot environment combined with a quantified risk of collision. Human visibility is determined by ray tracing from all possible camera positions on the robot surface, quantifying safety based on the speed and direction of the robot throughout a pre-determined task. A cost function based on discrete cells is formulated and solved numerically for two scenarios of increasing complexity, using a CUDA implementation to reduce computation time.

Original languageEnglish
Title of host publicationICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
PublisherSciTePress
Pages311-318
Number of pages8
Volume2
ISBN (Print)9789897580406
DOIs
Publication statusPublished - 2014
Event11th International Conference on Informatics in Control, Automation and Robotics - Vienna, United Kingdom
Duration: 1 Sep 20143 Sep 2014

Conference

Conference11th International Conference on Informatics in Control, Automation and Robotics
Abbreviated titleICINCO 2014
CountryUnited Kingdom
CityVienna
Period1/09/143/09/14

Keywords

  • Collision avoidance
  • Human robot cooperation
  • Mobile robot sensor placement

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  • Cite this

    Stähr, M., Wallace, A. M., & Robertson, N. (2014). Depth sensor placement for human robot cooperation. In ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (Vol. 2, pp. 311-318). SciTePress. https://doi.org/10.5220/0005017103110318