M. Bennewitz, W. Burgard and S. Thrun.
Adapting Navigation Strategies Using Motions Patterns of People
In Proc. of the IEEE International Conference on Robotics and
Automation (ICRA), 2003.
Abstract
As people move through their environments, they do not move
randomly. Instead, they are often engaged in typical motion
patterns, related to specific locations they might be interested in
approaching. In this paper we propose a method for adapting the
behavior of a mobile robot according to the activities of the people
in its surrounding. Our approach uses learned models of people's
motion behaviors. Whenever the robot detects a person it computes a
probabilistic estimate about which motion pattern the person might
be engaged in. During path planning it then uses this belief to
improve its navigation behavior. In different practical experiments
carried out on a real robot we demonstrate that our approach allows
a robot to quickly adapt its navigation plans according to the
activities of the persons in its surrounding. We also present
experiments illustrating that our approach provides a better
behavior than a standard reactive collision avoidance system.
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Bibtex
@InProceedings{bennewitz03ICRA,
author = {Bennewitz, M. and Burgard W. and Thrun, S.},
title = {Adapting Navigation Strategies Using Motions Patterns of People},
booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2003,
}