Integration of a Human-aware Risk-based Braking System into an Open-Field Mobile Robot

José C. Mayoral; Lars Grimstad; Pål J. From; Grzegorz Cielniak

ICRA 2021poster7 citations

Integration of a Human-aware Risk-based Braking System into an Open-Field Mobile Robot

José C. Mayoral, Lars Grimstad, Pål J. From, Grzegorz Cielniak

Abstract

Safety integration components for robotic applications are a mandatory feature for any autonomous mobile application, including human avoidance behaviors. This paper proposes a novel parametrizable scene risk evaluator for open-field applications that use humans motion predictions and pre-defined hazard zones to estimate a braking factor. Parameters optimization uses simulated data. The evaluation is carried out by simulated and real-time scenarios, showing the impact of human predictions in favor of risk reductions on agricultural applications.

BibTeX

@inproceedings{icra2021_integrationofahu,
  title = {Integration of a Human-aware Risk-based Braking System into an Open-Field Mobile Robot},
  author = {José C. Mayoral and Lars Grimstad and Pål J. From and Grzegorz Cielniak},
  booktitle = {ICRA 2021},
  year = {2021}
}