Abstract-In this paper, we address the problem of controlling the workspace of a 3-DoF mobile robot. This problem arises due to the emerging coexistence between humans and robots resulting in a shared space. In such an environment, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we propose a method that gives a non-expert user the possibility to intuitively define virtual borders by means of a laser pointer. In detail, we contribute a method and implementation based on a previously developed framework using a laser pointer as human-robot interface to change the robot's navigational behavior. Furthermore, we extend the framework to increase the flexibility by considering different types of virtual borders, i.e. polygons and curves separating an area. We qualitatively and quantitatively evaluated our method concerning correctness, accuracy and teaching effort. The experimental results revealed a high accuracy and low teaching effort while correctly incorporating the virtual borders into the robot's navigational map.
Furthermore, they use a laser pointer as human-robot interface to guide the robot along the virtual border REF .
This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer
ArXiv
ArXiv
Computer Science Engineering