Interactive navigation of humans from a game theoretic perspective
Interactive navigation of humans from a game theoretic perspective
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从博弈论角度进行人类交互导航
DOI：
10.1109/iros.2014.6942635
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
M. Buss
中科院分区：
文献类型：
--
作者：
Annemarie Turnwald;W. Olszowy;D. Wollherr;M. Buss
到目前为止，人类比任何运动规划算法都更成功地在人口稠密的环境中规划无碰撞、连续的轨迹。这是因为他们考虑了周围人有条件地合作、互动的行为，例如相互回避的可能性。本文从博弈论的角度来看待导航过程中的相互作用，并将纳什均衡的概念应用到人体运动分析中。与其他方法相比，博弈论方法不一定依赖于学习交互本身，并且是可扩展的。我们的方法是基于在实验期间捕获的人体运动数据。验证了两个假设：一方面，人类导航过程中存在相互作用；另一方面，人类的相互回避行为可以用非合作博弈中的纳什均衡理论来模拟。这些知识可以用来增强现有的自主机器人运动规划算法。
Humans are more successful in planning collision free, continuous trajectories through populated environments than any motion planning algorithm so far. This is due to the fact that they consider the conditionally cooperative, interactive behavior of the surrounding persons, for example the possibility of mutual avoidance maneuvers. In this paper, interaction during navigation is regarded from a game theoretic perspective and the concept of Nash equilibria is applied to analyze human motion. In contrast to other methods, the game theoretic approach does not necessarily rely on learning the interaction itself and is extendable. Our approach is based on human motion data that is captured during experiments. Two hypotheses are verified: for one thing, interaction exists during human navigation, for another thing, the mutual avoidance behavior of humans can be modeled with the theory of Nash equilibria in non-cooperative games. This knowledge can be used to enhance existing motion planning algorithms for autonomous robots.