动态环境中移动机器人的社会反应性导航模型
Socially reactive navigation models for mobile robots in dynamic environments
AI总结：
本研究提出自适应空间模型与改进的姿态估计算法，使移动机器人在动态环境中能社会可接受地近距离接近个人或群体，并通过仿真和实验验证其有效性。
摘要：
本工作的目标是扩展先前的研究，考虑机器人导航和交互中的社会可接受行为，并允许机器人近距离接近静态和动态的个人或群体。本论文中开发的空间模型是自适应的，即能够随时间变化以适应社会环境中常存在的不断变化的情况。空间模型参数的调整以实现人与机器人之间的近距离交互为最终目标，因此不仅能够考虑群体的布局，还能考虑机器人自身的基本特征。本工作还进一步发展了现有的姿态估计算法，通过考虑人类的基本感受，更好地保证参与交互的人类安全与舒适。这些算法通过使用$costmap2d$和$move\_base$包集成到ROS的导航系统中。空间模型的适应性通过与先前算法的对比评估，使用数据集进行测试。整个导航系统随后通过仿真（静态和动态）和现实生活场景（静态）进行评估。这些实验表明，所开发的空间模型和姿态估计算法能够使机器人近距离接近个体人类和群体，同时保持对其舒适和感受的考虑。
英文摘要：
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space models developed in this dissertation are adaptive, that is, capable of changing over time to accommodate the changing circumstances often existent within a social environment. The space model's parameters' adaptation occurs with the end goal of enabling a close interaction between humans and robots and is thus capable of taking into account not only the arrangement of the groups, but also the basic characteristics of the robot itself. This work also further develops a preexisting approach pose estimation algorithm in order to better guarantee the safety and comfort of the humans involved in the interaction, by taking into account basic human sensibilities. The algorithms are integrated into ROS's navigation system through the use of the $costmap2d$ and the $move\_base$ packages. The space model adaptation is tested via comparative evaluation against previous algorithms through the use of datasets. The entire navigation system is then evaluated through both simulations (static and dynamic) and real life situations (static). These experiments demonstrate that the developed space model and approach pose estimation algorithms are capable of enabling a robot to closely approach individual humans and groups, while maintaining considerations for their comfort and sensibilities.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
