This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer
D. Sprute, K. Tönnies, M. König, in: IEEE (Ed.), 2019 Third IEEE International Conference on Robotic Computing (IRC), IEEE, 2019, pp. 403–408.
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Konferenzbeitrag
| Veröffentlicht
| Englisch
Autor*in
Sprute, Dennis;
Tönnies, Klaus;
König, Matthias
herausgebende Körperschaft
IEEE
Einrichtung
Abstract
We address the problem of controlling the workspace of a 3-DoF mobile robot. In a human-robot shared space, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we employ virtual borders, that are non-physical borders, to allow a user the restriction of the robot's workspace. To this end, we propose an interaction method based on a laser pointer to intuitively define virtual borders. This interaction method uses a previously developed framework based on robot guidance to change the robot's navigational behavior. Furthermore, we extend this framework to increase the flexibility by considering different types of virtual borders, i.e. polygons and curves separating an area. We evaluated our method with 15 non-expert users concerning correctness, accuracy and teaching time. The experimental results revealed a high accuracy and linear teaching time with respect to the border length while correctly incorporating the borders into the robot's navigational map. Finally, our user study showed that non-expert users can employ our interaction method.
Erscheinungsjahr
Titel des Konferenzbandes
2019 Third IEEE International Conference on Robotic Computing (IRC)
Seite
403-408
Konferenz
2019 Third IEEE International Conference on Robotic Computing (IRC)
Konferenzort
Naples, Italy
Konferenzdatum
2019-02-25 – 2019-02-27
FH-PUB-ID
Zitieren
Sprute, Dennis ; Tönnies, Klaus ; König, Matthias: This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer. In: IEEE (Hrsg.): 2019 Third IEEE International Conference on Robotic Computing (IRC) : IEEE, 2019, S. 403–408
Sprute D, Tönnies K, König M. This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer. In: IEEE, ed. 2019 Third IEEE International Conference on Robotic Computing (IRC). IEEE; 2019:403-408. doi:10.1109/IRC.2019.00074
Sprute, D., Tönnies, K., & König, M. (2019). This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer. In IEEE (Ed.), 2019 Third IEEE International Conference on Robotic Computing (IRC) (pp. 403–408). Naples, Italy : IEEE. https://doi.org/10.1109/IRC.2019.00074
@inproceedings{Sprute_Tönnies_König_2019, title={This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer}, DOI={10.1109/IRC.2019.00074}, booktitle={2019 Third IEEE International Conference on Robotic Computing (IRC)}, publisher={IEEE}, author={Sprute, Dennis and Tönnies, Klaus and König, Matthias}, editor={IEEEEditor}, year={2019}, pages={403–408} }
Sprute, Dennis, Klaus Tönnies, and Matthias König. “This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer.” In 2019 Third IEEE International Conference on Robotic Computing (IRC), edited by IEEE, 403–8. IEEE, 2019. https://doi.org/10.1109/IRC.2019.00074.
D. Sprute, K. Tönnies, and M. König, “This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer,” in 2019 Third IEEE International Conference on Robotic Computing (IRC), Naples, Italy , 2019, pp. 403–408.
Sprute, Dennis, et al. “This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer.” 2019 Third IEEE International Conference on Robotic Computing (IRC), edited by IEEE, IEEE, 2019, pp. 403–08, doi:10.1109/IRC.2019.00074.