Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes

	Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes
	Zhixian Chen; Chao Song; Yuanyuan Yang; Baoliang Zhao; Ying Hu; Shoubin Liu; Jianwei Zhang
刊名	APPLIED SCIENCES-BASEL
	2018
文献子类	期刊论文
英文摘要	For a mobile robot, navigation skills that are safe, efficient, and socially compliant in crowded, dynamic environments are essential. This is a particularly challenging problem as it requires the robot to accurately predict pedestrians’ movements, analyse developing traffic situations, and plan its own path or trajectory accordingly. Previous approaches still exhibit low accuracy for pedestrian trajectory prediction, and they are prone to generate infeasible trajectories under complex crowded conditions. In this paper, we develop an improved socially conscious model to learn and predict a pedestrian’s future trajectory. To generate more efficient and safer trajectories in a changing crowed space, an online path planning algorithm considering pedestrians’ predicted movements and the feasibility of the candidate trajectories is proposed. Then, multiple traffic states are defined to guide the robot finding the optimal navigation strategies under changing traffic situations in a crowded area. We have demonstrated the performance of our approach outperforms state-of-the-art approaches with public datasets, in low-density and simulated medium-density crowded scenarios.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13537]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Zhixian Chen,Chao Song,Yuanyuan Yang,et al. Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes[J]. APPLIED SCIENCES-BASEL,2018.
APA	Zhixian Chen.,Chao Song.,Yuanyuan Yang.,Baoliang Zhao.,Ying Hu.,...&Jianwei Zhang.(2018).Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes.APPLIED SCIENCES-BASEL.
MLA	Zhixian Chen,et al."Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes".APPLIED SCIENCES-BASEL (2018).