Evaluation of ROS Navigation Stack for Social Navigation in Simulated Environments

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dc.contributor.authorPIMENTEL, F. A. M.
dc.contributor.authorPlinio Thomaz Aquino Junior
dc.contributor.authorOrcidhttps://orcid.org/0000-0002-5100-7443
dc.date.accessioned2022-01-12T21:53:49Z
dc.date.available2022-01-12T21:53:49Z
dc.date.issued2021-08-05
dc.description.abstract© 2021, The Author(s), under exclusive licence to Springer Nature B.V.Accuracy and safety are necessary characteristics in social navigation. These characteristics still constitute a challenge in this area. Yet, human comfort is the main goal in interactions involving human beings. The ROS Navigation Stack (RNS) allows the variation of local path planning methods. This paper consists in a comparative study of methods related to social navigation. This study promotes better social navigation on Home Environment Robot Assistant (HERA). This is a robot platform developed by FEI University Center. This work evaluated various parameter combinations: type of environments, types of obstacles, local and global planning algorithms and costmaps. The work also evaluated people in static, dynamic and interacting ways. This study observed aspects of safety, accuracy of estimated time and space. Other aspects observed are the smooth trajectory realized and respect for personal space. The experiments performed 1000 attempts for 37 combinations of methods, environments and sensors. In total, the experiments counted 37000 attempts. With these experiments, was possible to select a configuration for the navigation system. The point to the Timed Elastic Band (TEB) as a local planner and a proxemic costmap as a good combination. The results reach 97.6% of success in a more complex environment with this combination.
dc.description.issuenumber4
dc.description.volume102
dc.identifier.citationPIMENTEL, F. A. M.; AQUINO JUNIOR, P. T. Evaluation of ROS Navigation Stack for Social Navigation in Simulated Environments. Journal of Intelligent and Robotic Systems: Theory and Applications, v. 102, n. 4, aug. 2021.
dc.identifier.doi10.1007/s10846-021-01424-z
dc.identifier.issn1573-0409
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3566
dc.relation.ispartofJournal of Intelligent and Robotic Systems: Theory and Applications
dc.rightsAcesso Restrito
dc.subject.otherlanguagePath planning
dc.subject.otherlanguagePerformance evaluation
dc.subject.otherlanguageROS
dc.subject.otherlanguageSocial evaluation
dc.subject.otherlanguageSocial navigation
dc.titleEvaluation of ROS Navigation Stack for Social Navigation in Simulated Environments
dc.typeArtigo
fei.scopus.citations7
fei.scopus.eid2-s2.0-85111264395
fei.scopus.subjectComparative studies
fei.scopus.subjectComplex environments
fei.scopus.subjectHome environment
fei.scopus.subjectLocal path-planning
fei.scopus.subjectParameter combination
fei.scopus.subjectSimulated environment
fei.scopus.subjectSmooth trajectories
fei.scopus.subjectSocial navigation
fei.scopus.updated2024-07-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85111264395&origin=inward
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