HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation

Autor:	Pérez-Higueras, Noé, Otero, Roberto, Caballero, Fernando, Merino, Luis
Rok vydání:	2023
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2 framework, can be employed along with different well-known robotics simulators like Gazebo. The main goal is to ease the development and evaluation of human-aware robot navigation systems in simulation. Besides a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and realistic human navigation behaviors and a complete set of metrics for social navigation benchmarking. Comment: Preprint version of the paper accepted in the RA-L Journal
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2305.01303 Zobrazit plný text záznamu View this record from Arxiv