ArticleSensors (Basel, Switzerland)2025
Time-Interval-Based Collision Detection for 4WIS Mobile Robots in Human-Shared Indoor Environments.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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6 authors.
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Abstract
The recent growth in e-commerce has significantly increased the demand for indoor delivery solutions, highlighting challenges in last-mile delivery. This study presents a time-interval-based collision detection method for Four-Wheel Independent Steering (4WIS) mobile robots operating in human-shared indoor environments, where traditional path following algorithms often create unpredictable movements. By integrating kinematic-based robot trajectory calculation with LiDAR-based human detection and Kalman filter-based prediction, our system enables more natural robot-human interactions. Experimental results demonstrate that our parallel driving mode achieves superior human detection performance compared to conventional Ackermann steering, particularly during cornering and high-speed operations. The proposed method's effectiveness is validated through comprehensive experiments in realistic indoor scenarios, showing its potential for improving the efficiency and safety of indoor autonomous navigation systems.
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