Service robot navigation based on interaction intention detection between pedestrians

被引：0
作者：
Sun S. [1 ,2 ]
Zhao X. [1 ]
Bian J. [1 ,2 ]
Tan M. [1 ]
机构：
[1] State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Science, Beijing
[2] University of Chinese Academy of Sciences, Beijing
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2017年 / 45卷 / 10期
关键词：
Intention detection; Mobile robot; Motion control; Navigation; Route planning;
D O I：
10.13245/j.hust.171015
中图分类号：
学科分类号：
摘要：
To address the problem of service robot navigation in environment coexisting with humans, a robot navigation method with interaction intention detection between pedestrians was proposed. Firstly, the accurate trajectories of pedestrians were obtained by fusing the RGBD (red-green-blue-depth) and laser information. The interaction intention features were extracted from the trajectories, and interaction intentions between pedestrians were detected based on Bayes theory. Then, regions between two pedestrians were set to be interaction regions if they had intentions of interaction. Finally, temporary obstacles would be set on the map to force the robot to build a path that could avoid the regions. The effectiveness of the proposed method was verified by experimental results. © 2017, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
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页码：80 / 84
页数：4
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