Towards Safe Navigation Through Crowded Dynamic Environments
Zhanteng Xie,Pujie Xin,Philip Dames,Zhanteng Xie,Pujie Xin,Philip Dames
This paper proposes a novel neural network-based control policy to enable a mobile robot to navigate safety through environments filled with both static obstacles, such as tables and chairs, and dense crowds of pedestrians. The network architecture uses early fusion to combine a short history of lidar data with kinematic data about nearby pedestrians. This kinematic data is key to enable safe robo...
