Human-Aware Navigation Planner for Diverse Human-Robot Interaction Contexts

Phani Teja Singamaneni, Anthony Favier, Rachid Alami
2021 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable humanaware robot navigation planner that can handle a variety of human-robot contexts. We present the architecture of the system and discuss the features along with some implementation details. Then we present a detailed analysis of various simulated human-robot contexts using the proposed
more » ... planner. Further, we show that our system performs better when compared with an exiting human-aware planner in various contexts. Finally, we show the results in a real-world scenario after deploying our system on a real robot.
doi:10.1109/iros51168.2021.9636613 fatcat:op7aarazebbchk45gk36glnqva