Anticipatory robot navigation

摘要

The disclosure includes a system and method for using a robot to simulate user motions by detecting a user, estimating a first position and orientation of the user, determining a current position of the robot, generating an initial path from the current position of the robot to a goal position based on whether the robot affects the user while travelling on the initial path, determining whether the user will traverse in response to the robot when the robot travels on the initial path, responsive to the user traversing in response to the robot, estimating a second position where the user will move when the robot is near, and generating a new path from the current position of the robot to the goal position.

主权项

1. A method comprising:
detecting a user with a processor-based computing device programmed to perform the detecting; estimating a first position and orientation of the user; determining a current position of a robot; generating an initial path from the current position of the robot to a goal position based on whether the robot affects the user while travelling on the initial path, wherein the robot affects the user if the user is disturbed by the robot; determining whether the user will traverse along a user path in response to the robot when the robot travels on the initial path; responsive to the user traversing in response to the robot, estimating a second position where the user will move when the robot is near the user; and generating a new path from the current position of the robot to the goal position.