E cost worth xy = 200. A threshold of 0.five is employed for the self-confidence level to neglect low self-assurance detections. An area with an adjustable radius about every level to neglect low self-assurance detections. An area with an adjustable radius around each human cell is defined as a human safety zone. The Human layer calculates the Euclidean human cell is defined as a human security zone. The Human layer calculates the Euclidean distance in between the current robot position and each and every human cell to decide when the robot distance amongst the present robot position and every single human cell to determine if the robot is inside a human security zone. Following the idea of thethe navigation zones, robot will is inside a human security zone. Following the concept of navigation zones, the the robot will preventively transform its motion behavior if it really is inside a human zone. Moreover, the preventively alter its motion behavior if it really is inside a human security safety zone. Also, the humaninflated to create ato produce a buffer zone around the human co-workers. human cells are cells are inflated buffer zone around the human co-workers. The radius The radius of these buffer zones is smaller compared tosafety zones. The price value ofcost of those buffer zones is smaller when compared with the human the human safety zones. The the value in the corresponding cells is= 200. = 200. Theoretically, the robot to allowed to corresponding cells is set to 7 set to Theoretically, the robot is permitted is plan close xy planhuman, nevertheless it is highlyit is very price inefficient. Figure 4 exemplaryexemplary sceto a close to a human, but price inefficient. Figure 4 shows an shows an scenario of an nario of an grid map supplied by the WMSby the WMS along with the resulting costmap, includoccupancy occupancy grid map supplied and also the resulting costmap, including the buffer ing the buffer and one particular visualizedone visualized zone in safety zone in red. zones in blue zones in blue and human security human red.Figure 4. Human layer. (a) Occupancy grid map supplied by the WMS; (b) costmap M with buffer buffer aroundaround the 4. Human layer. (a) Occupancy grid map supplied by the WMS; (b) costmap with zones zones the human human cells in one exemplary visualized human safety zone (red circle); (c) costmap and occupancy grid map overlayed. cells in blue andblue and a single exemplary visualized human safety zone (red circle); (c) costmap and occupancy grid map overlayed.The Obstacle layer tracks the data from the 2D Lidar 9(R)-HETE-d8 site sensors. The Lidar information is providedObstacle of an tracks S, which includes the sensor readings. The sensor readingsproThe in kind layer array the data in the 2D Lidar sensors. The Lidar information is are converted in to the costmap space to determine the readings. The sensor readings are convided in form of an array , such as the sensorcorresponding cells. Analog for the Static layer, in to the costmap space to determine the corresponding cells. Analog (2). vertedthe obstacle layer contributes to the master layer by following Equationto the Static layer, the obstacle layer contributes for the master layer by following Equation (2). 0, MLidar ( x, y) == Free of charge (, ( x, y) 0, eight = , (2) 254, MLidar) == == Occupied xy (, ( x, y) 254, MLidar) == == NoIn f ormation = , (2) 255, (, ) == 255, exactly where MLidar may be the sensor readings within the costmap space. The Obstacle Inflation layer adds exactly where would be the sensor readings inside the costmap space. The Obstacle Inflation layer an adjustable buffer zone around the obst.
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