Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. (2nd July 2020)

• Record Type: Journal Article
• Authors: Sun, Shiying; Zhao, Xiaoguang; Li, Qianzhong; Tan, Min
• Is Part Of: Advanced robotics. Volume 34:Number 13(2020)
• Page Start: 888
• Page End: 901
• Publication Date: 2020-07-02
• Subjects: Human-aware navigation -- inverse reinforcement learning -- path planning -- service robot; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2020.1753569
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : In an environment where robots coexist with humans, mobile robots should be human-aware and comply with humans' behavioural norms so as to not disturb humans' personal space and activities. In this work, we propose an inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. In this method, the planning process of time-dependent A* is regarded as a Markov decision process and the cost function of the time-dependent A* is learned using the inverse reinforcement learning via capturing humans' demonstration trajectories. With this method, a robot can plan a path that complies with humans' behaviour patterns and the robot's kinematics. When constructing feature vectors of the cost function, considering the local vision characteristics, we propose a visual coverage feature for enabling robots to learn from how humans move in a limited visual field. The effectiveness of the proposed method has been validated by experiments in real-world scenarios: using this approach robots can effectively mimic human motion patterns when avoiding pedestrians; furthermore, in a limited visual field, robots can learn to choose a path that enables them to have the larger visual coverage which shows a better navigation performance. GRAPHICAL ABSTRACT: