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- Title
Application of Path Planning for a Mobile Robot Assistance System Based on OpenStreetMap Data.
- Authors
Stahr, Pascal; Maaß, Jochen; Gärtner, Henner
- Abstract
For visually impaired people, orientation and mobility are challenging and require a great deal of concentration. Especially unfamiliar routes are difficult to follow. This paper presents a navigation algorithm based on a geographic information system that can be optimally adapted to the needs of this user group. A three-stage process is being developed for this purpose. The first step is to check the map against ISO 19157, followed by map augmentation and the generation of a navigable graph. Finally, a new cost function for an A* algorithm is developed to make the best use of the modified map data and adapt it to the user's needs. It is shown that map data from the geographic information system OpenStreetMap is well suited to the task, although the map data needs to be verified and augmented with additional information before being used. Finally, we compare the presented solution with a standard A* algorithm.
- Subjects
MOBILE robots; ROBOTIC path planning; GEOGRAPHIC information systems; COST functions; PEOPLE with visual disabilities; DATA mapping
- Publication
Robotics, 2023, Vol 12, Issue 4, p113
- ISSN
2218-6581
- Publication type
Article
- DOI
10.3390/robotics12040113