Predictive Navigation by Understanding Human Motion Patterns

International Journal of Advanced Robotic Systems

关键词: Navigation;    Behavior Learning;    Behavior Understanding;    Mobile Robots;    Anytime Planning;   

DOI  :  10.5772/10529

学科分类：自动化工程

来源: InTech

【 摘 要 】

To make robots coexist and share the environments with humans, robots should understand the behaviors or the intentions of humans and further predict their motions. In this paper, an A*-based predictive motion planner is represented for navigation tasks. A generalized pedestrian motion model is proposed and trained by the statistical learning method. To deal with the uncertainty, a localization, tracking and prediction framework is also introduced. The corresponding recursive Bayesian formula represented as DBNs (Dynamic Bayesian Networks) is derived for real time operation. Finally, the simulations and experiments are shown to validate the idea of this paper.

【 授权许可】

CC BY