RT Journal Article
T1 HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
A1 Pérez Higueras, Noé
A1 Otero Galán, Roberto
A1 Caballero, Fernando
A1 Merino, Luis
K1 Navigation
K1 Robots
K1 Behavioral sciences
K1 Measurement
K1 Benchmark testing
K1 Human-aware motion planning
K1 Performance evaluation and benchmarking;simulation and animation
AB 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.
PB IEEE
YR 2023
FD 2023-09-15
LK https://hdl.handle.net/10433/23447
UL https://hdl.handle.net/10433/23447
LA en
NO 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.
NO Proyectos de investigación:PY20_00817NHoA PLEC2021-007868NORDIC TED2021-132476B-I00 (financiación MCIN/AEI/10.13039/501100011033)
NO Service Robotics Lab
NO Departamento de Deporte e Informática
DS RIO
RD May 9, 2026