让机器人在医院更安全地导航，学会理解人类行为并自主避让。
Enhancing robot reliability for health-care facilities by means of Human-Aware Navigation Planning
- 基于ROS的差速驱动机器人集成协作式人感知导航规划器。
- 在多种医疗场景模拟中验证，机器人能有效避让人类并保持流畅移动。
- 适合医疗环境部署，特别适用于需与人共处的护理机器人系统。
为使机器人能够与人类协作、执行类人任务或在人群中导航，必须确保其具备理解人类行为的能力，并利用所提取的知识进行智能决策。这一能力在安全关键且以人为中心的医疗机构环境中尤为重要。当前最先进的机器人导航方法，尤其是在医疗设施应用领域，主要聚焦于增强导航系统的人类感知特性。本文将协作式人感知导航规划器集成至基于ROS的差速驱动机器人MARRtina，并在多种模拟情境与场景（主要模拟医疗相关情况）中进行全面测试，以揭示该系统的优点，识别其缺陷或表现不佳的实例，同时探索系统能力边界并完成其适用性全面表征。仿真结果随后提交给医疗专家评估，验证了增强后机器人在该领域的可接受性，机器人正进一步规划用于实际部署。
原文摘要 · Abstract (English)
With the aim of enabling robots to cooperate with humans, carry out human-like tasks, or navigate among humans, we need to ensure that they are equipped with the ability to comprehend human behaviors and use the extracted knowledge for intelligent decision-making. This ability is particularly important in the safety-critical and human-centred environment of health-care institutions. In the field of robotic navigation, the most cutting-edge approaches to enhancing robot reliability in the application domain of healthcare facilities and in general pertain to augmenting navigation systems with human-aware properties. To implement this in our work, the Co-operative Human-Aware Navigation planner has been integrated into the ROS-based differential-drive robot MARRtina and exhaustively challenged within various simulated contexts and scenarios (mainly modelling the situations relevant in the medical domain) to draw attention to the integrated system's benefits and identify its drawbacks or instances of poor performance while exploring the scope of system capabilities and creating a full characterization of its applicability. The simulation results are then presented to medical experts, and the enhanced robot acceptability within the domain is validated with them as the robot is further planned for deployment.
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