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HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
May 02, 2023 Β· Declared Dead Β· π IEEE Robotics and Automation Letters
"No code URL or promise found in abstract"
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Authors
NoΓ© PΓ©rez-Higueras, Roberto Otero, Fernando Caballero, Luis Merino
arXiv ID
2305.01303
Category
cs.RO: Robotics
Citations
37
Venue
IEEE Robotics and Automation Letters
Last Checked
6 months ago
Abstract
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2 framework, can be employed along with different well-known robotics simulators like Gazebo. The main goal is to ease the development and evaluation of human-aware robot navigation systems in simulation. Besides a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and realistic human navigation behaviors and a complete set of metrics for social navigation benchmarking.
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