Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision

doi:10.1080/01691864.2020.1753569

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	*Inverse reinforcement learning-based time-dependent A planner for human-aware robot navigation with local vision**
	Sun Shiying; Zhao Xiaoguang; Li Qianzhong; Tan Min
刊名	ADVANCED ROBOTICS
	2020-04-17
页码	14
关键词	Human-aware navigation inverse reinforcement learning path planning service robot
ISSN号	0169-1864
DOI	10.1080/01691864.2020.1753569
通讯作者	Sun Shiying(sunshiying2013@ia.ac.cn)
英文摘要	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.
资助项目	National Natural Science Foundation of China[61673378] ; National Natural Science Foundation of China[61421004]
WOS研究方向	Robotics
语种	英语
出版者	TAYLOR & FRANCIS LTD
WOS记录号	WOS:000527209900001
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/38871]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Sun Shiying
作者单位	Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Sun Shiying,Zhao Xiaoguang,Li Qianzhong,et al. Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision[J]. ADVANCED ROBOTICS,2020:14.
APA	Sun Shiying,Zhao Xiaoguang,Li Qianzhong,&Tan Min.(2020).Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision.ADVANCED ROBOTICS,14.
MLA	Sun Shiying,et al."Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision".ADVANCED ROBOTICS (2020):14.