Abstract
A primary goal of developing robots is to relieve people from hard work or help them in difficult situations. An example for such a situation is a shopping assistant robot that supports people who need help in their daily life. Such a mobile robot has to be able to deal with dynamic environments (moving people) and navigate safely and efficiently. In the present paper, we provide a system description of our navigation strategy for an assistant robot that is developed for autonomous operation in a supermarket. Creating an appropriate experimental environment can be quite challenging, and access to the application place can be limited (e.g., a real supermarket). Therefore we complement our real robot with a digital twin and describe our approach to create a suitable simulation of a real-world supermarket. Further, we discuss how off-the-shelf software can be used to implement a three-stage navigation strategy (planing a route with a TSP solver, global path planning, and incorporating dynamic obstacles in an optimization-based TEB approach) that is suitable for environments with dynamic obstacles. The paper presents our approaches to create a 3D map from 2D floor plans, as well as the preprocessing of the sensor data for usage in the TEB planner. Finally, we provide our hands-on experience with implementing a complex state-machine using the graphical RAFCON framework.
Supported by the Federal Ministry of Education and Research, Germany.
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Notes
- 1.
Videos and other supplementary material can be found on our website https://www.tu-chemnitz.de/etit/proaut/shopping-robot.
- 2.
Version 3.5; latest version (CoppeliaSim) does not work with the used V-Rep plug-in.
- 3.
Brian P. Gerkey, AMCL, ROS Wiki, http://wiki.ros.org/amcl.
- 4.
Tom Moore, robot_localization, ROS Wiki, http://wiki.ros.org/robot_localization.
- 5.
Applegate, D. et al., “Concorde tsp solver”. http://math.uwaterloo.ca/tsp/concorde.
- 6.
Richard Bormann, ipa_building_navigation, http://wiki.ros.org/ipa_building_navigation.
- 7.
Statistic from our cooperation partner of the supermarket.
- 8.
Michael Ferguson, navigation, ROS Wiki, http://wiki.ros.org/navigation.
- 9.
Christoph Roesmann, teb_local_planner, http://wiki.ros.org/teb_local_planner.
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Schlegel, K., Neubert, P., Protzel, P. (2020). Building a Navigation System for a Shopping Assistant Robot from Off-the-Shelf Components. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_13
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