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Pré-Publication, Document De Travail Année : 2021

Human-Aware Navigation Planner for Diverse Human-Robot Contexts

Phani-Teja Singamaneni
Anthony Favier
Rachid Alami

Résumé

As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation planner that can handle a variety of humanrobot contexts. We present the architecture of the planner and discuss the features and some implementation details. Then we present a detailed analysis of various simulated humanrobot contexts using the proposed planner along with some quantitative results. Finally, we show the results in a real-world scenario after deploying our system on a real robot.
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Dates et versions

hal-03262888 , version 1 (17-06-2021)
hal-03262888 , version 2 (04-10-2021)

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Phani-Teja Singamaneni, Anthony Favier, Rachid Alami. Human-Aware Navigation Planner for Diverse Human-Robot Contexts. 2021. ⟨hal-03262888v1⟩
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