Evaluating Directional Cost Models in Navigation
Evaluating Directional Cost Models in Navigation
复制标题
评估导航中的定向成本模型
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
R. Alami
中科院分区：
文献类型：
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作者：
Thibault Kruse;Alexandra Kirsch;Harmish Khambhaita;R. Alami
机器人导航中社交距离的常见方法是人类周围的空间成本函数，这导致机器人更喜欢距离人类不太近的路径。然而，在不可预测的动态场景中，遵循此类路径可能会产生显得混乱的机器人行为。成本函数[9]中方向成本的概念应该可以缓解这个问题，而不会引发使用时间规划的组合爆炸问题。通过方向成本函数，机器人尝试在可能的情况下通过调整速度而不是路径来解决空间冲突。为了补充模拟结果，在本文中，我们描述了一项使用 PR2 机器人和人类参与者进行的用户研究，以评估新的成本函数类型。研究表明，真实的机器人行为与模拟中的观察结果相似，并且参与者认为机器人行为与适应的成本模型不太混淆。该研究还显示了其他可能影响运动清晰度的重要行为线索。类别和主题描述符 H.4 [信息系统应用]：杂项； D.2.8 [软件工程]：度量——复杂性度量、性能度量
A common approach to social distancing in robot navigation are spatial cost functions around humans that cause the robot to prefer paths that do not come too close to humans. However, in unpredictably dynamic scenarios, following such paths may produce robot behavior that appears confused. The concept of directional costs in cost functions [9] is supposed to alleviate this problem without incurring the problem of combinatorial explosions using temporal planning. With directional cost functions, a robot attempts to solve spatial conflicts by adjusting the velocity instead of the path, where possible. To complement results from simulations, in this paper we describe a user study we conducted with a PR2 robot and human participants to evaluate the new cost function type. The study shows that the real robot behavior is similar to the observations in simulation, and that participants rate the robot behavior less confusing with the adapted cost model. The study also shows other important behavior cues that can influence motion legibility. Categories and Subject Descriptors H.4 [Information Systems Applications]: Miscellaneous; D.2.8 [Software Engineering]: Metrics—complexity measures, performance measures