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Human Intention Estimation based on Hidden Markov Model Motion Validation for Safe Flexible Robotized Warehouses (CROSBI ID 256783)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Petković, Tomislav ; Puljiz, David ; Marković, Ivan ; Hein, Bjoern Human Intention Estimation based on Hidden Markov Model Motion Validation for Safe Flexible Robotized Warehouses // Robotics and computer-integrated manufacturing, 57 (2019), 182-196. doi: 10.1016/j.rcim.2018.11.004

Podaci o odgovornosti

Petković, Tomislav ; Puljiz, David ; Marković, Ivan ; Hein, Bjoern

engleski

Human Intention Estimation based on Hidden Markov Model Motion Validation for Safe Flexible Robotized Warehouses

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans’ mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human’s, i.e., worker’s motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results.

human intention estimation ; hidden Markov model ; virtual reality ; Theory of Mind

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Podaci o izdanju

57

2019.

182-196

objavljeno

0736-5845

1879-2537

10.1016/j.rcim.2018.11.004

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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