Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments

Abstract

This paper presents a trajectory planning method enabling autonomous robots to approach persons in dynamic environments to start a conversation proac- tively. It is shown how integrating human inspired parameters in optimal control based motion planning increases the readability of a motion. The presented trajectory planner is designed to improve the human-like appearance of an approach motion. Experimental evaluations shown in literature propose to in- corporate human-like aspects since the intended action becomes more comprehensi- ble for humans. Factors like approach speed, distance to the person, positioning near the person, trajectory shape and the avoidance method draw on human behavior to generate motions accordingly. Human-likeness is evaluated by means of naturalness and comfort of the approach behavior. By executing corresponding trajectories, the approach movement appears more natural and the readability of the action is en- hanced.