Enhancing Swift and Socially-Aware Navigation with Continuous Spatial-Temporal Routing

Zijian Ge; Jingkun Jiang; Matthew Coombes; Sun Liang

doi:10.1007/s12369-024-01193-3

journal article Open Access Dec 11, 2024

Enhancing Swift and Socially-Aware Navigation with Continuous Spatial-Temporal Routing

Zijian Ge Jingkun Jiang

Matthew Coombes

Sun Liang

International Journal of Social Robotics Vol. 17 No. 1 pp. 87-98 · Springer Science and Business Media LLC

View at Publisher Save 10.1007/s12369-024-01193-3

Abstract

Abstract
Routing for autonomous robots in dynamic human environments requires paths that are collision-free, efficient, and socially considerate. This article introduces an optimization-based routing method that operates in continuous space using a spatial-temporal model of crowd dynamics. Our approach anticipates future crowd changes and adjusts routes by considering potential speed variations due to local motion planning. It optimizes navigation speed while avoiding densely crowded areas, ensuring efficient and socially-aware navigation. Simulations in three scenarios demonstrate superior performance compared to benchmark methods in terms of navigation efficiency and adaptability in crowded, dynamic environments.

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Metrics

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Citations

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References

Details

Published: Dec 11, 2024
Vol/Issue: 17(1)
Pages: 87-98
License: View

Authors

State Key Joint Laboratory of Environment Simulation and Pollution Control, School of Environment, Tsinghua University, Beijing 100084, People’s Republic of China; State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex, Beijing 100084, People’s Republic of China

Cite This Article

Zijian Ge, Jingkun Jiang, Matthew Coombes, et al. (2024). Enhancing Swift and Socially-Aware Navigation with Continuous Spatial-Temporal Routing. International Journal of Social Robotics, 17(1), 87-98. https://doi.org/10.1007/s12369-024-01193-3

Enhancing Swift and Socially-Aware Navigation with Continuous Spatial-Temporal Routing

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