The article presents a novel framework for mobile robot navigation in crowded spaces. The study introduces three major contributions to improve the coexistence of humans and robots. The first is a comprehensive framework that employs Flow Disturbance Penalty (FDP) and Individual Disturbance Penalty (IDP) which assess and analyze the impact of robot navigation on pedestrians. The second is a sampling-based navigation system that integrates safety measures with the predictability of robotic movements, incorporating pedestrian awareness. Lastly, the effectiveness and real-time performance of the proposed algorithm are validated through simulations and real-world tests, demonstrating its ability to navigate with minimal pedestrian disturbance.
Publication date: 29 Dec 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2312.17076
