We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on speed around humans. We demonstrate the concept for a mobile robot that guides people to annotated landmarks on the map. The robot keeps a metric map for navigation and a semantic map to hold planar surfaces for tasking. The system supports automatic initialization upon the detection of a specially designed QR code. We show that speed maps not only can reduce the impact of a potential collision but can also reduce navigation time.

翻译：我们提出了速度地图的概念:人类环境中移动机器人的速度限制;静态速度地图允许走廊上更快的导航,同时限制角和房间周围的速度;动态速度地图限制人类周围的速度;我们展示了移动机器人的概念,该机器人将引导人们到地图上注解的地标上;机器人保留了导航的通用地图和用于布置任务的平面的语义地图;系统支持在探测到专门设计的QR码时自动启动。我们显示,速度地图不仅可以减少潜在碰撞的影响,还可以减少导航时间。