HuNavSim: 人間認識型ロボットナビゲーションを評価するためのROS 2人間ナビゲーションシミュレータ
HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
ROS 2上で動作するオープンソースの人間ナビゲーションシミュレータを提案し、多様な人間の歩行行動モデルと社会的ナビゲーションの評価指標を提供する。
著者: Noé Pérez-Higueras, Roberto Otero, Fernando Caballero, Luis Merino
分類: cs.RO
原文アブストラクト
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2 framework, can be employed along with different well-known robotics simulators like Gazebo. The main goal is to ease the development and evaluation of human-aware robot navigation systems in simulation. Besides a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and realistic human navigation behaviors and a complete set of metrics for social navigation benchmarking.
