The Navigation Design of Mobile Robot in the Man-Machine Environment for Service Assist

摘要

The global novel coronavirus COVID-19 has spread far beyond any previous cases in the world, due to its high infect ability, robots are in high demand all over the world, which can help hospital services, protect the health and safety of front-line medical workers. This paper investigates the use of an autonomous service robot in an indoor complex environment, such as a hospital ward or a retirement home. The research is based on the method of fusing lidar and image information to identify, locate, and track the human body in the indoor environment. Use lidar SLAM to obtain the pose of pedestrians in the environment, and incorporate the predicted pedestrian trajectory into the planning constraints of the navigation algorithm to ensure that human behavior intentions are respected, and verify the humanized navigation of the mobile robot in the human-machine inclusive indoor environment through online simulation and experimental platform. The main advantages of the design of this mobile robot are that it can improve the friendliness of human-machine integration in order to do better serves in public environments such as medical institutions.