Human Aware Robot Navigation in Semantically Annotated Domestic Environments
Human Aware Robot Navigation in Semantically Annotated Domestic Environments
复制标题
语义注释的家庭环境中的人类感知机器人导航
DOI：
10.1007/978-3-319-40244-4_40
复制
发表时间：
2016
期刊：
影响因子：
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通讯作者：
D. Tzovaras
中科院分区：
文献类型：
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作者：
I. Kostavelis;Dimitrios Giakoumis;S. Malassiotis;D. Tzovaras
在不久的将来，只要投放市场的机器人达到社会可接受的行为，就可以实现无缝的人类机器人同居。因此，机器人需要学习并做出适当的反应，如果它们能够与人类共享相同的空间，并使它们的操作适应人类的活动。这项工作的目标是引入一个人的感知全局路径规划解决方案，机器人导航，认为人类在国内环境中的存在。朝着这个方向，层次语义地图建立在度量地图上，其中人类的存在是使用频繁访问的站立位置，同时考虑到语义学理论建模。在人类在家庭环境中的活动期间，最可能的人类路径被计算并且用顺序的但下降的高斯核来建模。通过这种方式，机器人在考虑到人类存在和物理障碍的家庭环境中操作时能够安全地做出反应。该方法已在模拟环境中进行了评估，但现实的采集数据建模的真实的房子空间，并表现出显着的性能。
In the near future, the seamless human robot cohabitation can be achieved as long as the robots to be released in the market attain socially acceptable behavior. Therefore, robots need to learn and react appropriately, should they be able to share the same space with people and to adapt their operation to human’s activity. The goal of this work is to introduce a human aware global path planning solution for robot navigation that considers the humans presence in a domestic environment. Towards this direction, hierarchical semantic maps are built upon metric maps where the human presence is modelled using frequently visited standing positions considering also the proxemics theory. During the human’s perambulation within the domestic environment the most probable humans pathways are calculated and modeled with sequential, yet descending Gaussian kernel’s. This way, the robot reacts with safety when operating in a domestic environment taking into consideration the human presence and the physical obstacles. The method has been evaluated on a simulated environment, yet on realistic acquired data modeling a real house space and exhibited remarkable performance.