Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot
Regular washing of public pavements is necessary to ensure that the public environment is sanitary for social activities. This is a challenge for autonomous cleaning robots, as they must adapt to the environment with varying pavement widths while avoiding pedestrians. A self-reconfigurable pavement...
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2021-03-01
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Online Access: | https://www.mdpi.com/1424-8220/21/5/1745 |
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doaj-870c792926a34ada8fc58d7fbee89d072021-03-04T00:04:00ZengMDPI AGSensors1424-82202021-03-01211745174510.3390/s21051745Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable RobotLim Yi0Anh Vu Le1Balakrishnan Ramalingam2Abdullah Aamir Hayat3Mohan Rajesh Elara4Tran Hoang Quang Minh5Braulio Félix Gómez6Lum Kai Wen7ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeOptoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, VietnamROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeRegular washing of public pavements is necessary to ensure that the public environment is sanitary for social activities. This is a challenge for autonomous cleaning robots, as they must adapt to the environment with varying pavement widths while avoiding pedestrians. A self-reconfigurable pavement sweeping robot, named Panthera, has the mechanisms to perform reconfiguration in width to enable smooth cleaning operations, and it changes its behavior based on environment dynamics of moving pedestrians and changing pavement widths. Reconfiguration in the robot’s width is possible, due to the scissor mechanism at the core of the robot’s body, which is driven by a lead screw motor. Panthera will perform locomotion and reconfiguration based on perception sensors feedback control proposed while using an Red Green Blue-D (RGB-D) camera. The proposed control scheme involves publishing robot kinematic parameters for reconfiguration during locomotion. Experiments were conducted in outdoor pavements to demonstrate the autonomous reconfiguration during locomotion to avoid pedestrians while complying with varying pavements widths in a real-world scenario.https://www.mdpi.com/1424-8220/21/5/1745reconfigurable robotsensors fusionpavement cleaningreconfiguration mechanism designsemantic segmentation deep neural networkfeedback control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Lim Yi Anh Vu Le Balakrishnan Ramalingam Abdullah Aamir Hayat Mohan Rajesh Elara Tran Hoang Quang Minh Braulio Félix Gómez Lum Kai Wen |
spellingShingle |
Lim Yi Anh Vu Le Balakrishnan Ramalingam Abdullah Aamir Hayat Mohan Rajesh Elara Tran Hoang Quang Minh Braulio Félix Gómez Lum Kai Wen Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot Sensors reconfigurable robot sensors fusion pavement cleaning reconfiguration mechanism design semantic segmentation deep neural network feedback control |
author_facet |
Lim Yi Anh Vu Le Balakrishnan Ramalingam Abdullah Aamir Hayat Mohan Rajesh Elara Tran Hoang Quang Minh Braulio Félix Gómez Lum Kai Wen |
author_sort |
Lim Yi |
title |
Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot |
title_short |
Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot |
title_full |
Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot |
title_fullStr |
Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot |
title_full_unstemmed |
Locomotion with Pedestrian Aware from Perception Sensor by Pavement Sweeping Reconfigurable Robot |
title_sort |
locomotion with pedestrian aware from perception sensor by pavement sweeping reconfigurable robot |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2021-03-01 |
description |
Regular washing of public pavements is necessary to ensure that the public environment is sanitary for social activities. This is a challenge for autonomous cleaning robots, as they must adapt to the environment with varying pavement widths while avoiding pedestrians. A self-reconfigurable pavement sweeping robot, named Panthera, has the mechanisms to perform reconfiguration in width to enable smooth cleaning operations, and it changes its behavior based on environment dynamics of moving pedestrians and changing pavement widths. Reconfiguration in the robot’s width is possible, due to the scissor mechanism at the core of the robot’s body, which is driven by a lead screw motor. Panthera will perform locomotion and reconfiguration based on perception sensors feedback control proposed while using an Red Green Blue-D (RGB-D) camera. The proposed control scheme involves publishing robot kinematic parameters for reconfiguration during locomotion. Experiments were conducted in outdoor pavements to demonstrate the autonomous reconfiguration during locomotion to avoid pedestrians while complying with varying pavements widths in a real-world scenario. |
topic |
reconfigurable robot sensors fusion pavement cleaning reconfiguration mechanism design semantic segmentation deep neural network feedback control |
url |
https://www.mdpi.com/1424-8220/21/5/1745 |
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