预测行人运动的服务机器人POMDP导航.pdfVIP

32 l ROBOT Vol.32, No.l 20l0 l Jan., 20l0 l002-0446(20l0)-0l-00l8-08 POMDP 2l0096 - POMDP POMDP TP24 B POMDP Navigation of Service Robots with Human Motion Prediction GIAN Kun MA Xudong DAI Xianzhong FANG fang (Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing 2l0096, China) Abstract: To improve the natural pedestrian-avoidance skills of service robots in indoor dynamic environments, a method of combining long-term and short-term prediction of pedestrian s motion is introduced on the basis of modeling humans motion trajectory patterns. In order to accommodate the uncertainties in the perception-control loop of robots, which are mainly caused by sensor noise and time delay in network and other factors, the relative position relation between human and robot is modeled as partially observable Markov state. Partially observable Markov decision process (POMDP) is utilized for probabilistic decision-making under multi-source uncertainties, and the behavior modules of the global path planner, the motion reactor and the speed controller, are coordinated. Experimental results illustrate the performance of safe navigation that can avoid coniicts in advance, as well as the improved robot navigation eficiency by avoiding repeated zigzaging and wandering motion. Keywords: predictive navigation; motion estimation;