升级版人类导航模拟器，助力机器人更懂人类行为。
HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation
- 基于行为树构建复杂人类动作组合，提升仿真真实度。
- 支持与Gazebo、Isaac Sim等主流机器人仿真器联动。
- 开源工具，适合研究人机共存导航的开发者使用。
本文提出新版人类导航模拟器HuNavSim 2.0，一款基于ROS 2框架的开源工具，用于在含移动机器人的场景中模拟多样化的行人-智能体交互行为。该工具可与Gazebo或NVIDIA Isaac Sim等知名机器人仿真平台集成，旨在促进人感知型机器人导航系统在仿真环境中的开发与评估。新版本增强了行为树的动作与条件组合能力，支持构建更复杂、更逼真的行人行为模式，显著提升仿真场景的真实性与灵活性。
原文摘要 · Abstract (English)
This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2 framework, can be used together with different well-known robotics simulators such as Gazebo or NVidia Isaac Sim. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In this new version, several features have been improved and new ones added, such as the extended set of actions and conditions that can be combined in Behavior Trees to compound complex and realistic human behaviors.
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