Publication: HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
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Abstract
This work presents 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, the first programmed under the ROS 2 framework, can be used together with different well-known robotics simulators like Gazebo. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In addition to a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and varied human navigation behaviors and an comprehensive set of metrics for social navigation benchmarking.
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Proyectos de investigación:
PY20_00817
NHoA PLEC2021-007868
NORDIC TED2021-132476B-I00 (financiación MCIN/AEI/10.13039/501100011033)
Bibliographic reference
N. Pérez-Higueras, R. Otero, F. Caballero and L. Merino, "HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation," in IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7130-7137, Nov. 2023, doi: 10.1109/LRA.2023.3316072.