Time dependent planning on a layered social cost map for human-aware robot navigation

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Autoren

  • Marina Kollmitz
  • Kaijen Hsiao
  • Johannes Gaa
  • Wolfram Burgard

Organisationseinheiten

Externe Organisationen

  • Albert-Ludwigs-Universität Freiburg
  • Robert Bosch GmbH
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des Sammelwerks2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
ISBN (elektronisch)9781467391634
PublikationsstatusVeröffentlicht - 10 Nov. 2015
VeranstaltungEuropean Conference on Mobile Robots, ECMR 2015 - Lincoln, Großbritannien / Vereinigtes Königreich
Dauer: 2 Sept. 20154 Sept. 2015

Abstract

As robots make their way into our everyday lives, new behavioral concepts are needed to assure their acceptance as interaction partners. In the presence of humans, robots are required to take safety as well as human comfort into account. This paper presents a novel, planning-based approach for social robot navigation. It uses predicted human trajectories and a social cost function to plan collision-free paths that take human comfort into account. It furthermore employs time dependent, kinodynamic path planning to reason about human motion over time and to account for the kinematic and dynamic constraints of a robot. Our approach generates paths that exhibit properties similar to those used in human-human interaction, such as waiting for a human to pass before continuing along an intended path, avoiding getting too close to another human's personal space, and moving out of the way when blocking a human's path. In extensive experiments carried out with real robots and in simulation we demonstrate the performance of our approach.

ASJC Scopus Sachgebiete

Zitieren

Time dependent planning on a layered social cost map for human-aware robot navigation. / Kollmitz, Marina; Hsiao, Kaijen; Gaa, Johannes et al.
2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. 7324184.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Kollmitz, M, Hsiao, K, Gaa, J & Burgard, W 2015, Time dependent planning on a layered social cost map for human-aware robot navigation. in 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings., 7324184, Institute of Electrical and Electronics Engineers Inc., European Conference on Mobile Robots, ECMR 2015, Lincoln, Großbritannien / Vereinigtes Königreich, 2 Sept. 2015. https://doi.org/10.1109/ecmr.2015.7324184
Kollmitz, M., Hsiao, K., Gaa, J., & Burgard, W. (2015). Time dependent planning on a layered social cost map for human-aware robot navigation. In 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings Artikel 7324184 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ecmr.2015.7324184
Kollmitz M, Hsiao K, Gaa J, Burgard W. Time dependent planning on a layered social cost map for human-aware robot navigation. in 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. 7324184 doi: 10.1109/ecmr.2015.7324184
Kollmitz, Marina ; Hsiao, Kaijen ; Gaa, Johannes et al. / Time dependent planning on a layered social cost map for human-aware robot navigation. 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015.
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