Proceedings of the
9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)
15 – 18 November 2022, Singapore
doi:10.3850/978-981-18-6021-8_OR-18-0303
A Mixed Reality Platform for Online Motion Planning of Mobile Robots via Hololens 2
1Temasek Laboratories, Singapore University of Technology and Design, 8 Somapah Road Singapore 487372
ABSTRACT
Mobile robots have been widely used to perform a variety of tasks such as exploration or transportation of payloads within a cluttered environment. While a great deal of progress had been made towards developing autonomous motion planning capability for such robots, they still suffer from requiring significant tuning and getting into a trapped situation during navigation. Here, we proposed a hybrid alternative approach, where humans collaborate with the robots during the motion planning process to effectively achieve their task goals. In this paper, a mixed reality-based human-robot interaction platform via Hololens 2 is developed for such purpose, to tap into human knowledge-based reasoning during the global motion planning process while allowing the robot to autonomously navigate around obstacles locally. We presented the methodology and framework of our mixed reality platform and tested its performance for online human-directed motion planning on a Ghost Vision 60 quadruped robot.
Keywords: Mobile Robots, Mixed Reality, Motion Planning, Human-Robot Interaction
1Temasek Laboratories, Singapore University of Technology and Design, 8 Somapah Road Singapore 487372
ABSTRACT
Mobile robots have been widely used to perform a variety of tasks such as exploration or transportation of payloads within a cluttered environment. While a great deal of progress had been made towards developing autonomous motion planning capability for such robots, they still suffer from requiring significant tuning and getting into a trapped situation during navigation. Here, we proposed a hybrid alternative approach, where humans collaborate with the robots during the motion planning process to effectively achieve their task goals. In this paper, a mixed reality-based human-robot interaction platform via Hololens 2 is developed for such purpose, to tap into human knowledge-based reasoning during the global motion planning process while allowing the robot to autonomously navigate around obstacles locally. We presented the methodology and framework of our mixed reality platform and tested its performance for online human-directed motion planning on a Ghost Vision 60 quadruped robot.
Keywords: Mobile Robots, Mixed Reality, Motion Planning, Human-Robot Interaction
