A growing number of applications involving autonomous mobile robots will require their navigation across environments in which spaces are shared with humans. In those situations, the robot’s actions are socially acceptable if they reflect the behaviours that humans would generate in similar conditions. Therefore, the robot must perceive people in the environment and correctly react based on their actions and relevance to its mission. In order to give a push forward to human-robot interaction, the proposed research is focused on efficient robot motion algorithms, covering all the tasks needed in the whole process, such as obstacle detection, human motion tracking and prediction, socially aware navigation, etc. The final framework presented in this thesis is a robust and efficient solution enabling the robot to correctly understand the human intentions and consequently perform safe, legible, and socially compliant actions. The thesis retraces in its structure all the different steps of the framework through the presentation of the algorithms and models developed, and the experimental evaluations carried out both with simulations and on real robotic platforms, showing the performance obtained in real–time in complex scenarios, where the humans are present and play a prominent role in the robot decisions. The proposed implementations are all based on insightful combinations of traditional model-based techniques and machine learning algorithms, that are adequately fused to effectively solve the human-aware navigation. The specific synergy of the two methodology gives us greater flexibility and generalization than the navigation approaches proposed so far, while maintaining accuracy and reliability which are not always displayed by learning methods.
| Identifer | oai:union.ndltd.org:unitn.it/oai:iris.unitn.it:11572/356142 |
| Date | 03 November 2022 |
| Creators | Antonucci, Alessandro |
| Contributors | Antonucci, Alessandro, Palopoli, Luigi, Fontanelli, Daniele |
| Publisher | Università degli studi di Trento, place:TRENTO |
| Source Sets | Università di Trento |
| Language | English |
| Detected Language | English |
| Type | info:eu-repo/semantics/doctoralThesis |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | firstpage:1, lastpage:163, numberofpages:163 |
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