TY - GEN
T1 - A framework with a pedestrian simulator for deploying robots into a real environment
AU - Shiomi, Masahiro
AU - Zanlungo, Francesco
AU - Hayashi, Kotaro
AU - Kanda, Takayuki
PY - 2012
Y1 - 2012
N2 - We describe a simulation framework aimed to develop and test robots before deploying them in a real environment crowded with pedestrians. In order to use mobile robots in the real world, it is necessary to test whether they are able to navigate well, i.e. without causing safety risks to humans. This task is particular difficult due to the complex behavior pedestrians have towards each other and also towards the robot, that can be perceived either as an obstacle to avoid or as an object of interest to approach for curiosity. To overcome this difficulty, our framework involves a pedestrian simulator, based on a collision avoidance model developed to describe low density conditions as those occurring in shopping malls, to test the robot's navigation capability among pedestrians. Furthermore, we analyzed the behavior of pedestrians towards a robot in a shopping mall to build a human-to-robot interaction model that was introduced in the simulator. Our simulator works as a tool to test the level of safety of robot navigation before deploying it in a real environment. We demonstrate our approach showing how we used the simulator, and how the robot finally navigated in a real environment.
AB - We describe a simulation framework aimed to develop and test robots before deploying them in a real environment crowded with pedestrians. In order to use mobile robots in the real world, it is necessary to test whether they are able to navigate well, i.e. without causing safety risks to humans. This task is particular difficult due to the complex behavior pedestrians have towards each other and also towards the robot, that can be perceived either as an obstacle to avoid or as an object of interest to approach for curiosity. To overcome this difficulty, our framework involves a pedestrian simulator, based on a collision avoidance model developed to describe low density conditions as those occurring in shopping malls, to test the robot's navigation capability among pedestrians. Furthermore, we analyzed the behavior of pedestrians towards a robot in a shopping mall to build a human-to-robot interaction model that was introduced in the simulator. Our simulator works as a tool to test the level of safety of robot navigation before deploying it in a real environment. We demonstrate our approach showing how we used the simulator, and how the robot finally navigated in a real environment.
KW - Field trial
KW - Mobile robot
KW - Pedestrian simulation
KW - Safe navigation
UR - http://www.scopus.com/inward/record.url?scp=84868019279&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84868019279&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-34327-8_19
DO - 10.1007/978-3-642-34327-8_19
M3 - Conference contribution
AN - SCOPUS:84868019279
SN - 9783642343261
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 185
EP - 196
BT - Simulation, Modeling, and Programming for Autonomous Robots - Third International Conference, SIMPAR 2012, Proceedings
T2 - 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012
Y2 - 5 November 2012 through 8 November 2012
ER -