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Socially Inspired Motion Planning for Mobile Robots in Populated Environments

Summary: Socially Inspired Motion Planning for
Mobile Robots in Populated Environments
J¨org M¨uller Cyrill Stachniss Kai O. Arras Wolfram Burgard
Abstract-- Nowadays, robots often operate in environments
that they share with humans. The ability to act similar to humans
is an important prerequisite for the social acceptance of robots.
In this paper, we consider the problem of navigation in populated
environments. We present a path planning algorithm that enables
robots to move efficiently and smoothly with groups of people
by selecting those individuals that move towards the robot's
desired goal. Our technique is based on a people tracking system
in combination with an iterative A* planner. The approach
iteratively finds both, a path and a partition of the set of
surrounding people into obstacles and subjects to follow. In the
absence of people, the optimal solution is still found by the A*
planner. The approach has been implemented and tested on a real
mobile robot in populated environments. Experiments illustrate
that the robot is able to move with groups of people resulting in
a more human-like way of navigation among people.


Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg


Collections: Computer Technologies and Information Sciences