A human aware mobile robot motion planner
A human aware mobile robot motion planner
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DOI：
10.1109/tro.2007.904911
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发表时间：
2007-10-01
影响因子：
7.8
通讯作者：
Simeon, Thierry
中科院分区：
文献类型：
--
作者：
Sisbot, Emrah Akin;Marin-Urias, Luis F.;Simeon, Thierry
当必须明确考虑人类时，在人类存在的情况下机器人导航会给运动规划和控制带来新的问题。我们声称，人类感知运动规划器（HAMP）不仅必须提供安全的机器人路径，而且还必须综合良好的、社会可接受的且清晰的路径。本文重点关注一种运动规划器，它通过推理人类伙伴的可访问性、视野以及现实环境中相对人机位置和运动的偏好，明确考虑到人类伙伴。该规划器是人类感知运动和操纵规划和控制系统的一部分，我们的目标是开发该系统，以便在人类存在或与人类协同的情况下实现运动和操纵任务。
Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences in terms of relative human-robot placement and motions in realistic environments. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in the presence or in synergy with humans.