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A human aware mobile robot motion planner
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DOI：10.1109/TRO.2007.904911.png)
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Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences in terms of relative human-robot placement and motions in realistic environments. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in the presence or in synergy with humans.
Keyword:
human-robot interaction (HRI)
motion planning
social interaction
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
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