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http://hdl.handle.net/10119/19406
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| Title: | Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments |
| Authors: | Nguyen Canh, Thanh
HoangVan, Xiem
Chong, Nak Young |
| Keywords: | Social Navigation
Trajectory Planning
Dynamic Human Environments |
| Issue Date: | 2024-10-29 |
| Publisher: | Institute of Control, Robotics and Systems (ICROS) |
| Magazine name: | 2024 24th International Conference on Control, Automation and Systems (ICCAS) |
| Start page: | 731 |
| End page: | 736 |
| DOI: | 10.23919/ICCAS63016.2024.10773156 |
| Abstract: | Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory planning to enable safe and socially-aware robot navigation. The main idea of the proposed method is to leverage the advantages of Socially Acceptable trajectory prediction and Timed Elastic Band (TEB) by incorporating human interactive information including position, orientation, and motion into the objective function of the TEB algorithms. In addition, we designed social constraints to ensure the safety of robot navigation. The proposed system is evaluated through physical simulation using both quantitative and qualitative metrics, demonstrating its superior performance in avoiding human and dynamic obstacles, thereby ensuring safe navigation. The implementations are open source at: https://github.com/thanhnguyencanh/SGan-TEB.git |
| Rights: | This is the author's version of the work. Copyright (C) ICROS. 2024 24th International Conference on Control, Automation and Systems (ICCAS 2024), 2024, pp. 731-736. DOI: 10.23919/ICCAS63016.2024.10773156. Personal use of this material is permitted. This material is posted here with permission of Institute of Control, Robotics and Systems (ICROS). |
| URI: | http://hdl.handle.net/10119/19406 |
| Material Type: | author |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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| N-CHONG-I-1210-3.pdf | | 2158Kb | Adobe PDF | View/Open |
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