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[转载]【计算机科学】【2017.08】机器人在拥挤动态环境中的自主导航

已有 173 次阅读 2020-5-26 17:49 |系统分类:科研笔记|文章来源:转载

本文为英国谢菲尔德大学(作者:Ross Walker)的博士论文,共282页。

 

本文提出了一种新的路径规划算法,用于机器人在拥挤行人环境中导航。这个机器人的设计是通过周密的动作在人群中穿行。与许多其他的路径规划算法(假设与其他行人协作)不同,该算法是完全独立的,只需要进行观察。本文以自主移动机器人为研究对象,提出了一种综合导航策略。利用预测行人运动的简单方法,以及机器人与行人之间的简单相对距离和轨迹测量,机器人可以在人群中导航,而不会对行人轨迹造成干扰。利用不确定椭圆预测动态行人位置,提出了一种新的Voronoi图可见性混合路线图,使得路径规划器能够充分利用行人之间的任何可用间隙,规划出合理的路径。体贴的路径规划器的目标是让机器人在人群中以特定的方式移动。通过预测行人的轨迹,机器人可以避免干扰他们。在横穿行人的轨迹时,跟随行人的偏好移动;在可能的情况下朝人群的同一方向移动;在拥挤的区域减速,将防止对个别行人的任何干扰,并防止人群拥挤程度的增加。利用仿真行人、多个移动机器人以及真实的行人数据集对该策略的有效性进行了评估,该算法将突出其在考虑上述因素的情况下向每个动态智能体移动的能力。

 

This thesis presents a novel path planningalgorithm for robotic crowd navigation through a pedestrian environment. Therobot is designed to negotiate its way through the crowd using consideratemovements. Unlike many other path planning algorithms, which assume cooperationwith other pedestrians, this algorithm is completely independent and requiresonly observation. A considerate navigation strategy has been developed in thisthesis, which utilises consideration as an directs an autonomous mobile robot.Using simple methods of predicting pedestrian movements, as well as simplerelative distance and trajectory measurements between the robot and pedestrians,the robot can navigate through a crowd without causing disruption to pedestriantrajectories. Dynamic pedestrian positions are predicted using uncertaintyellipses. A novel Voronoi diagram-visibility graph hybrid roadmap isimplemented so that the path planner can exploit any available gaps in betweenpedestrians, and plan considerate paths. The aim of the considerate pathplanner is to have the robot behave in specific ways when moving through thecrowd. By predicting pedestrian trajectories, the robot can avoid interferingwith them. Following preferences to move behind pedestrians, when cuttingacross their trajectories; to move in the same direction of the crowd whenpossible; and to slow down in crowded areas, will prevent any interference to individualpedestrians, as well as preventing an increase in congestion to the crowd as awhole. The effectiveness of the considerate navigation strategy is evaluatedusing simulated pedestrians, multiple mobile robots loaded with the pathplanning algorithm, as well as a real-life pedestrian dataset. The algorithmwill highlight its ability to move with the aforementioned considerationtowards each individual dynamic agent.

 

1. 引言

2. 文献回顾

3. 开发考虑周到的路径规划器

4. 一种新的Voronoi可见性图混合路线图

5. 考虑周到的导航策略算法

6. 测试导航策略

7. 基于真实行人数据的导航策略评价

8. 总结与未来工作展望


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