Assessing the social criteria for human-robot collaborative navigation: A comparison of human-aware navigation planners
Assessing the social criteria for human-robot collaborative navigation: A comparison of human-aware navigation planners
复制标题
评估人机协作导航的社会标准：人类意识导航规划器的比较
DOI：
--
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
R. Alami
中科院分区：
文献类型：
--
作者：
Harmish Khambhaita;R. Alami
本文主要研究交互式导航场景中有效的人类机器人协作的需求。我们设计了几个用例，在这些用例中，人类和机器人必须在类似于典型的交叉路径情况的相同环境中移动。这些用例既包括开放空间，也包括受限空间。在所有选定的用例中，使用了三种不同的最先进的人性化导航规划器来规划机器人的路径。我们将仿真实验的结果与这些人类意识到的规划器在生成轨迹的质量方面进行了比较，并讨论了规划器的能力和局限性。结果表明，人-机器人协同规划器[1]在日常的路径穿越配置中表现出更好的性能。这表明，人-机器人协作规划器使用的标准(安全性、碰撞时间、定向成本)可能是设计可接受的人类感知导航规划器的良好指标。因此，我们分析了这些社会标准的影响，并对人类感知的导航规划方法的未来发展进行了展望。
This paper focuses on requirements for effective human robot collaboration in interactive navigation scenarios. We designed several use-cases where humans and robot had to move in the same environment that resemble canonical path-crossing situations. These use-cases include open as well as constrained spaces. Three different state-of-the-art humanaware navigation planners were used for planning the robot paths during all selected use-cases. We compare results of simulation experiments with these human-aware planners in terms of quality of generated trajectories together with discussion on capabilities and limitations of the planners. The results show that the human-robot collaborative planner [1] performs better in everyday path-crossing configurations. This suggests that the criteria used by the human-robot collaborative planner (safety, time-to-collision, directional-costs) are possible good measures for designing acceptable human-aware navigation planners. Consequently, we analyze the effects of these social criteria and draw perspectives on future evolution of human-aware navigation planning methods.