Learning Local Planners for Human-aware Navigation in Indoor Environments
Ronja Guldenring,Michael Görner,Norman Hendrich,Niels Jul Jacobsen,Jianwei Zhang,Ronja Guldenring,Michael Görner,Norman Hendrich,Niels Jul Jacobsen,Jianwei Zhang
Established indoor robot navigation frameworks build on the separation between global and local planners. Whereas global planners rely on traditional graph search algorithms, local planners are expected to handle driving dynamics and resolve minor conflicts. We present a system to train neural-network policies for such a local planner component, explicitly accounting for humans navigating the spac...
