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General information |
| Author |
Qian, Kun; Ma, Xudong; Dai, Xianzhong; Fang, Fang; Zhou, Bo |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
To improve the natural human‐avoidance skills
of service robots, a human motion predictive navigation
method is proposed, namely PN‐POMDP. A humanrobot
motion co‐occurrence estimation algorithm is
proposed which incorporates long‐term and short‐term
human motion prediction. To improve the reliability of
probabilistic and predictive navigation, the POMDP
model is utilized to generate navigation control policies
through theoretically optimal decisions. A layered motion
control structure is proposed that combines global path
planning and reactive avoidance. Multiple comity policies
are integrated with a decision‐making module that
generates efficient and human‐compliant navigational
behaviours for robots. Experimental results illustrate the
effectiveness and reliability of the predictive navigation
method. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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