Target position and avoidance margin effects on path planning in obstacle avoidance

Abstract

This study examined how people choose their path to a target, and the visual information they use for path planning. Participants avoided stepping outside an avoidance margin between a stationary obstacle and the edge of a walkway as they walked to a bookcase and picked up a target from different locations on a shelf. We provided an integrated explanation for path selection by combining avoidance margin, deviation angle, and distance to the obstacle. We found that the combination of right and left avoidance margins accounted for 26%, deviation angle accounted for 39%, and distance to the obstacle accounted for 35% of the variability in decisions about the direction taken to circumvent an obstacle on the way to a target. Gaze analysis findings showed that participants directed their gaze to minimize the uncertainty involved in successful task performance and that gaze sequence changed with obstacle location. In some cases, participants chose to circumvent the obstacle on a side for which the gaze time was shorter, and the path was longer than for the opposite side. Our results of a path selection judgment test showed that the threshold for participants abandoning their preferred side for circumventing the obstacle was a target location of 15 cm to the left of the bookcase shelf center.