Simulation-Based Internal Models for Safer Robots
Simulation-Based Internal Models for Safer Robots
复制标题
DOI：
10.3389/frobt.2017.00074
复制
发表时间：
2018-01-11
影响因子：
3.4
通讯作者：
Hefner, Verena V.
中科院分区：
文献类型：
--
作者：
Blum, Christian;Winfield, Alan F. T.;Hefner, Verena V.
在本文中，我们探讨了潜在的移动的机器人与基于模拟的内部模型，在高度动态的环境中的安全。我们提出了一个机器人与自己的模拟，其他动态演员和它的环境中，本身。在真实的时间操作，这个基于模拟的内部模型能够向前看，并预测机器人自己的行动和在其附近的其他动态演员的后果。因此，机器人不断修改自己的动作，以积极维护自己的安全，同时也实现自己的目标。受启发的问题，如何移动的机器人可以快速，安全地通过人群的移动的人，我们提出了实验结果，比较我们的内部基于模拟的控制器的性能与纯粹的反应性的方法作为一个概念验证的研究，为实际使用的基于模拟的内部模型。
In this paper, we explore the potential of mobile robots with simulation-based internal models for safety in highly dynamic environments. We propose a robot with a simulation of itself, other dynamic actors and its environment, inside itself. Operating in real time, this simulation-based internal model is able to look ahead and predict the consequences of both the robot's own actions and those of the other dynamic actors in its vicinity. Hence, the robot continuously modifies its own actions in order to actively maintain its own safety while also achieving its goal. Inspired by the problem of how mobile robots could move quickly and safely through crowds of moving humans, we present experimental results which compare the performance of our internal simulation-based controller with a purely reactive approach as a proof-of-concept study for the practical use of simulation-based internal models.