HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation

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 used together with different well-known robotics...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2023-11, Vol.8 (11), p.7130-7137
Main Authors: Perez-Higueras, Noe, Otero, Roberto, Caballero, Fernando, Merino, Luis
Format: Article
Language:English
Subjects:
Behavioral sciences
Benchmark testing
Benchmarks
Human-aware motion planning
Legged locomotion
Measurement
Navigation
Navigation systems
Pedestrians
performance evaluation and benchmarking
Robotics
Robots
Simulation
simulation and animation
Simulators
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Summary: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 used together with different well-known robotics simulators like Gazebo. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In addition to a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and varied human navigation behaviors and an comprehensive set of metrics for social navigation benchmarking.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3316072