RT Journal Article
T1 Automatic Waypoint generation to improve robot navigation through narrow spaces
A1 Moreno-Dueñas, Francisco Ángel
A1 González-Monroy, Javier
A1 Ruiz-Sarmiento, José Raúl
A1 Galindo-Andrades, Cipriano
A1 González-Jiménez, Antonio Javier
K1 Robots autónomos
AB In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass through, it may not see enough clearance to navigate, hence limiting its operational space. An approach to facing this is to insert waypoints strategically placed within the problematic areas in the map, which are considered by the robot planner when generating a trajectory and help to successfully traverse them. This is typically carried out by a human operator either by relying on their experience or by trial-and-error. In this paper, we present an automatic procedure to perform this task that: (i) detects problematic areas in the map and (ii) generates a set of auxiliary navigation waypoints from which more suitable trajectories can be generated by the robot planner. Our proposal, fully compatible with the robotic operating system (ROS), has been successfully applied to robots deployed in different houses within the H2020 MoveCare project. Moreover, we have performed extensive simulations with four state-of-the-art robots operating within real maps. The results reveal significant improvements in the number of successful navigations for the evaluated scenarios, demonstrating its efficacy in realistic situations.
PB MDPI
YR 2019
FD 2019-12
LK https://hdl.handle.net/10630/29821
UL https://hdl.handle.net/10630/29821
LA eng
NO Moreno, F.-A.; Monroy, J.; Ruiz-Sarmiento, J.-R.; Galindo, C.; Gonzalez-Jimenez, J. Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces. Sensors 2020, 20, 240. https://doi.org/10.3390/s20010240
NO Ministerio de Economía y Competitividad (DPI2017-84827-R) con Fondos FEDER. Comisión Europea (ICT-26-2016b-GA-732158). Universidad de Málaga.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026