Predictive Navigation by Understanding Human Motion Patterns

Predictive Navigation by Understanding Human Motion Patterns

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To make robots coexist and share the environments with humans, robots should understand the behaviors or the intentions of humans and further predict their motions. In this paper, an A * -based predictive motion planner is represented for navigation tasks. A generalized pedestrian motion model is pr...

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Main Authors: Shu-Yun Chung, Han-Pang Huang
Format: Article
Language:English
Published: SAGE Publishing 2011-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/10529
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spelling doaj-8f328f7087a44798bf452b99ffcd10ce2020-11-25T03:08:35ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142011-03-01810.5772/1052910.5772_10529Predictive Navigation by Understanding Human Motion PatternsShu-Yun ChungHan-Pang HuangTo make robots coexist and share the environments with humans, robots should understand the behaviors or the intentions of humans and further predict their motions. In this paper, an A * -based predictive motion planner is represented for navigation tasks. A generalized pedestrian motion model is proposed and trained by the statistical learning method. To deal with the uncertainty, a localization, tracking and prediction framework is also introduced. The corresponding recursive Bayesian formula represented as DBNs (Dynamic Bayesian Networks) is derived for real time operation. Finally, the simulations and experiments are shown to validate the idea of this paper.https://doi.org/10.5772/10529
collection DOAJ
language English
format Article
sources DOAJ
author Shu-Yun Chung
Han-Pang Huang
spellingShingle Shu-Yun Chung
Han-Pang Huang
Predictive Navigation by Understanding Human Motion Patterns
International Journal of Advanced Robotic Systems
author_facet Shu-Yun Chung
Han-Pang Huang
author_sort Shu-Yun Chung
title Predictive Navigation by Understanding Human Motion Patterns
title_short Predictive Navigation by Understanding Human Motion Patterns
title_full Predictive Navigation by Understanding Human Motion Patterns
title_fullStr Predictive Navigation by Understanding Human Motion Patterns
title_full_unstemmed Predictive Navigation by Understanding Human Motion Patterns
title_sort predictive navigation by understanding human motion patterns
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2011-03-01
description To make robots coexist and share the environments with humans, robots should understand the behaviors or the intentions of humans and further predict their motions. In this paper, an A * -based predictive motion planner is represented for navigation tasks. A generalized pedestrian motion model is proposed and trained by the statistical learning method. To deal with the uncertainty, a localization, tracking and prediction framework is also introduced. The corresponding recursive Bayesian formula represented as DBNs (Dynamic Bayesian Networks) is derived for real time operation. Finally, the simulations and experiments are shown to validate the idea of this paper.
url https://doi.org/10.5772/10529
work_keys_str_mv AT shuyunchung predictivenavigationbyunderstandinghumanmotionpatterns
AT hanpanghuang predictivenavigationbyunderstandinghumanmotionpatterns
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