Decision-Theoretical Navigation of Service Robots Using POMDPs with Human-Robot Co-Occurrence Prediction. (25th February 2013)

• Record Type: Journal Article
• Authors: Qian, Kun; Ma, Xudong; Dai, Xianzhong; Fang, Fang; Zhou, Bo
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 2(2013)
• Publication Date: 2013-02-25
• Subjects: Predictive Navigation -- Motion Estimation -- Uncertainty -- Pomdps; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/55926
• Languages: English
• ISSNs: 1729-8806

Abstract

To improve the natural human-avoidance skills of service robots, a human motion predictive navigation method is proposed, namely PN-POMDP. A human-robot 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.