Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments

Thanh Nguyen Canh

Xiem HoangVan

Nak Young Chong

School of Information Science, JAIST, Japan
VNU University of Engineering and Technology, Vietnam
ICCAS, 2024.

[Paper]

Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory planning to enable safe and socially-aware robot navigation. The main idea of the proposed method is to leverage the advantages of Socially Acceptable trajectory prediction and Timed Elastic Band (TEB) by incorporating human interactive information including position, orientation, and motion into the objective function of the TEB algorithms. In addition, we designed social constraints to ensure the safety of robot navigation. The proposed system is evaluated through physical simulation using both quantitative and qualitative metrics, demonstrating its superior performance in avoiding human and dynamic obstacles, thereby ensuring safe navigation.

Paper

Thanh Nguyen Canh, Xiem HoangVan, Nak Young Chong

Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments

ICCAS 2024.

[pdf]

Overview

Overview of our proposed method. The system is composed of two main units: Socially Aware and Social Trajectory Planning.

Experiments

Scenario 1: Reverse direction, Scenario 2: Multi-person, Scenario 3: Avoid door in corridor scenario, Scenario 4: Turn right (a) simulation environment, (b) trajectory estimation, (c) real trajectory.

Code

[github]

Citation

1. Canh T. N., Ngo H-H, HoangVan X., Chong A.Y. Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments. International Conference on Control, Automation, and Systems (ICCAS), 2024.

@inproceedings{canh2024s3m, 
                                  

                                    author    = {Canh, Thanh Nguyen and HoangVan, Xiem and Chong, Nak Young}, 
                                  

                                    title     = {{Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments}}, 
                                  

                                    booktitle = {2024 24th International Conference on Control, Automation and Systems (ICCAS)}, 
                                  

                                    year      = {2024}, 
                                  

                                    pages     = {731--736},
                                  

                                  organization= {IEEE}, 
                                  

                                    DOI       = {10.23919/ICCAS63016.2024.10773342}
                                  

                                }

Acknowledgements

We gratefully acknowledge support fromthe Asian Office of Aerospace Research and Development under Grant/Cooperative Agreement Award No. FA2386-22-1-4042.
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