Crowd-Aware Robot Navigation for Pedestrians with Multiple Collision Avoidance Strategies via Map-based Deep Reinforcement Learning
Shunyi Yao,Guangda Chen,Quecheng Qiu,Jun Ma,Xiaoping Chen,Jianmin Ji,Shunyi Yao,Guangda Chen,Quecheng Qiu,Jun Ma,Xiaoping Chen,Jianmin Ji
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision avoidance (ORCA). However, their performances commonly need to be further improved for practical applications, where pedestrians follow multiple different collision ...
