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Utilizing a Reconfigurable Maze System to Enhance the Reproducibility of Spatial Navigation Tests in Rodents

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Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces.

Francisco-Angel Moreno¹, Javier Monroy¹, Jose-Raul Ruiz-Sarmiento¹

¹Machine Perception and Intelligent Robotics Group (MAPIR), Dept. of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, 29071 Málaga, Spain.

Sensors (Basel, Switzerland)

|January 8, 2020

Summary

This summary is machine-generated.

This study introduces an automated method for domestic robots to navigate narrow spaces by detecting problematic areas and generating waypoints. This improves robot navigation success rates in real-world home environments.

Keywords:

mobile robots robot deployment robot localization robot navigation waypoint generation

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Area of Science:

Robotics
Artificial Intelligence
Computer Science

Background:

Domestic robots face challenges navigating narrow spaces due to sensor noise and miscalibration.
Current methods for improving navigation in constrained areas rely on manual waypoint insertion by human operators.
Limited operational space hinders the effectiveness and safety of autonomous robot navigation in homes.

Purpose of the Study:

To develop an automated procedure for identifying challenging navigation areas in domestic environments.
To generate auxiliary navigation waypoints that assist robot planners in creating efficient trajectories.
To enhance the success rate of robot navigation in complex, real-world domestic settings.

Main Methods:

An automatic procedure was developed to detect problematic navigation areas within a given map.
The system generates a set of auxiliary navigation waypoints to guide robot path planning.
The proposed method is compatible with the Robotic Operating System (ROS) and was tested with multiple robots.

Main Results:

The automated waypoint generation significantly improved the number of successful navigations in evaluated scenarios.
Extensive simulations were conducted using real-world maps and four state-of-the-art robots.
The approach demonstrated efficacy in realistic domestic environments, enhancing robot operational capabilities.

Conclusions:

The developed automatic procedure effectively addresses the challenge of robot navigation in narrow domestic spaces.
The system's ability to generate strategic waypoints enhances robot path planning and traversal success.
This research contributes to more reliable and autonomous domestic robot navigation in complex home environments.