跳ぶ前に見よ：混雑した廊下での社会的に受容される高速地上ロボットナビゲーション
Look Before You Leap: Socially Acceptable High-Speed Ground Robot Navigation in Crowded Hallways
混雑した廊下でロボットが立ち往生する問題を解決するため、のぞき見して追い越す「ピーク・アンド・パス」行動を可能にするプランナを提案し、シミュレーションと実機で社会的規範を守りつつ目標到達時間を改善することを示した。
著者: Lakshay Sharma, Jonathan P. How
分類: cs.RO
原文アブストラクト
To operate safely and efficiently, autonomous warehouse/delivery robots must be able to accomplish tasks while navigating in dynamic environments and handling the large uncertainties associated with the motions/behaviors of other robots and/or humans. A key scenario in such environments is the hallway problem, where robots must operate in the same narrow corridor as human traffic going in one or both directions. Traditionally, robot planners have tended to focus on socially acceptable behavior in the hallway scenario at the expense of performance. This paper proposes a planner that aims to address the consequent "robot freezing problem" in hallways by allowing for "peek-and-pass" maneuvers. We then go on to demonstrate in simulation how this planner improves robot time to goal without violating social norms. Finally, we show initial hardware demonstrations of this planner in the real world.
