Robot Navigation Taking Advantage of Moving Agents - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2012

Robot Navigation Taking Advantage of Moving Agents

Résumé

A crucial requirement for service robots is to be able to move in dynamic environments shared with humans as well as interact with them. Navigation in such environments is a challenging task, as the environment is constantly changing, future states have to be predicted and planning and execution must be carried on-line. However, even in very complex situations, humans can easily find a path that avoid both dynamic agents and static obstacles. This paper proposes a technique to take advantage of the human movement in such populated environments, selecting a leader to be followed in a probabilistic fashion, according to the robot's desired destination. In this way, the robot can take advantage of the paths traveled by humans, effortlessly avoiding dynamic and static features as the human leader does, relieving the robot from the burden of having to generate its own path.
Fichier principal
Vignette du fichier
stein_iros_2012.pdf (534.87 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00743606 , version 1 (19-10-2012)

Identifiants

  • HAL Id : hal-00743606 , version 1

Citer

Procópio Stein, Anne Spalanzani, Vítor Santos, Christian Laugier. Robot Navigation Taking Advantage of Moving Agents. IROS 2012 Workshop on Assistance and Service robotics in a human environment, Oct 2012, Vilamoura, Portugal. ⟨hal-00743606⟩
301 Consultations
510 Téléchargements

Partager

Gmail Facebook X LinkedIn More