Details
| Original language | English |
|---|---|
| Title of host publication | 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (electronic) | 9781467391634 |
| Publication status | Published - 10 Nov 2015 |
| Event | European Conference on Mobile Robots, ECMR 2015 - Lincoln, United Kingdom (UK) Duration: 2 Sept 2015 → 4 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.
Keywords
- Collision avoidance, Cost function, Navigation, Planning, Robots, Standards, Trajectory
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Control and Systems Engineering
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2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. 7324184.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Time dependent planning on a layered social cost map for human-aware robot navigation
AU - Kollmitz, Marina
AU - Hsiao, Kaijen
AU - Gaa, Johannes
AU - Burgard, Wolfram
PY - 2015/11/10
Y1 - 2015/11/10
N2 - 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.
AB - 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.
KW - Collision avoidance
KW - Cost function
KW - Navigation
KW - Planning
KW - Robots
KW - Standards
KW - Trajectory
UR - http://www.scopus.com/inward/record.url?scp=84962323742&partnerID=8YFLogxK
U2 - 10.1109/ecmr.2015.7324184
DO - 10.1109/ecmr.2015.7324184
M3 - Conference contribution
AN - SCOPUS:84962323742
BT - 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - European Conference on Mobile Robots, ECMR 2015
Y2 - 2 September 2015 through 4 September 2015
ER -