System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work

by   Hochul Hwang, et al.

A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were conducted with little or no consideration of how the guide dog handler and the guide dog work as a team for navigation. To develop a robotic guiding system that is genuinely beneficial to blind or visually impaired individuals, we performed qualitative research, including interviews with guide dog handlers and trainers and first-hand blindfold walking experiences with various guide dogs. Grounded on the facts learned from vivid experience and interviews, we build a collaborative indoor navigation scheme for a guide dog robot that includes preferred features such as speed and directional control. For collaborative navigation, we propose a semantic-aware local path planner that enables safe and efficient guiding work by utilizing semantic information about the environment and considering the handler's position and directional cues to determine the collision-free path. We evaluate our integrated robotic system by testing guide blindfold walking in indoor settings and demonstrate guide dog-like navigation behavior by avoiding obstacles at typical gait speed (0.7 m/s).


page 1

page 3

page 5

page 6


Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism

This paper explores the principles for transforming a quadrupedal robot ...

A Deep Learning Based Behavioral Approach to Indoor Autonomous Navigation

We present a semantically rich graph representation for indoor robotic n...

2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain

Safe navigation in uneven terrains is an important problem in robotic re...

Coupling Vision and Proprioception for Navigation of Legged Robots

We exploit the complementary strengths of vision and proprioception to a...

Robot Patrol: Using Crowdsourcing and Robotic Systems to Provide Indoor Navigation Guidance to The Visually Impaired

Indoor navigation is a challenging activity for persons with disabilitie...

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

We investigate the task of object goal navigation in unknown environment...

Can Quadruped Navigation Robots be Used as Guide Dogs?

Bionic robots are generally considered to have strong flexibility, adapt...

Please sign up or login with your details

Forgot password? Click here to reset