Robot Local Navigation with Learned Social Cost Functions

Noé Pérez-Higueras, Rafael Ramón-Vigo, Fernando Caballero, Luis Merino

2014

Abstract

Robot navigation in human environments is an active research area that poses serious challenges. Among them, human-awareness has gain lot of attention in the last years due to its important role in human safety and robot acceptance. The proposed robot navigation system extends state of the navigation schemes with some social skills in order to naturally integrate the robot motion in crowded areas. Learning has been proposed as a more principled way of estimating the insights of human social interactions. To do this, inverse reinforcement learning is used to derive social cost functions by observing persons walking through the streets. Our objective is to incorporate such costs into the robot navigation stack in order to “emulate” these human interactions. In order to alleviate the complexity, the system is focused on learning an adequate cost function to be applied at the local navigation level, thus providing direct low-level controls to the robot. The paper presents an analysis of the results in a robot navigating in challenging real scenarios, analyzing and comparing this approach with other algorithms.

Paper Citation

in Harvard Style

Pérez-Higueras N., Ramón-Vigo R., Caballero F. and Merino L. (2014). Robot Local Navigation with Learned Social Cost Functions . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 618-625. DOI: 10.5220/0005120806180625

in Bibtex Style

@conference{icinco14,
author={Noé Pérez-Higueras and Rafael Ramón-Vigo and Fernando Caballero and Luis Merino},
title={Robot Local Navigation with Learned Social Cost Functions},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={618-625},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005120806180625},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Robot Local Navigation with Learned Social Cost Functions
SN - 978-989-758-040-6
AU - Pérez-Higueras N.
AU - Ramón-Vigo R.
AU - Caballero F.
AU - Merino L.
PY - 2014
SP - 618
EP - 625
DO - 10.5220/0005120806180625