Segmentation-Based Angular Position Estimation Algorithm for Dynamic Path Planning by a Person-Following Robot

摘要

The study proposed a dynamic path planning (DPP) method that combines instance image segmentation and elementary matrix calculations to enable a robot to identify the angular position of entities in its surroundings. The DPP method fuses visual and depth information for scene understanding and path estimation with reduced computation resources. This study designed, developed, and evaluated a deep-learning based companion robot prototype for indoor navigation and obstacle avoidance using an RGB-D camera as the sole input sensor. A simulated environment was employed to evaluate the robot’s path-planning ability using visual sensors. The DPP method enables the person-following robot to perform intelligent curve manipulation for safe path planning to avoid objects in the initial trajectory. The approach offers a unique and straightforward technique for scene understanding without the burden of extensive neural network configuration. Its modular architecture and flexibility make it a promising candidate for future development and refinement in this domain. Its effectiveness in collision prevention and path planning has potential implications for various applications, including medical robotics.