论文标题
移动社交机器人的模拟器：最新和挑战
Simulators for Mobile Social Robots:State-of-the-Art and Challenges
论文作者
论文摘要
预计未来的机器人将在与人类的共同物理空间中起作用[1]，但是，人类的存在导致了一个动态的环境，这对于移动机器人来说是具有挑战性的。由于缺乏仿真框架，通常在实际环境中经常测试旨在在复杂人类环境中导航自由碰撞路径的路径规划算法。本文确定了此任务理想模拟器的关键要求，评估了现有的仿真框架，最重要的是，它确定了现有仿真技术的挑战和局限性。首先，我们认识到，为了测试为人类环境设计的移动机器人所需的模拟器是独一无二的，因为它们除了建模移动机器人的建模外还必须建模现实的行人行为。我们的研究发现，PEDSIM_ROS [2]和最近的SocNavbench框架[3]是唯一满足本文定义的大多数关键要求的两个3D模拟框架。总而言之，我们确定了开发更多模拟器的需求，这些模拟器具有创建现实的3D行人富的虚拟环境以及从头开始设计复杂机器人及其传感器模型的灵活性的能力。
The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to navigate a collision free path in complex human environments are often tested in real environments due to the lack of simulation frameworks. This paper identifies key requirements for an ideal simulator for this task, evaluates existing simulation frameworks and most importantly, it identifies the challenges and limitations of the existing simulation techniques. First and foremost, we recognize that the simulators needed for the purpose of testing mobile robots designed for human environments are unique as they must model realistic pedestrian behavior in addition to the modelling of mobile robots. Our study finds that Pedsim_ros [2] and a more recent SocNavBench framework [3] are the only two 3D simulation frameworks that meet most of the key requirements defined in our paper. In summary, we identify the need for developing more simulators that offer an ability to create realistic 3D pedestrian rich virtual environments along with the flexibility of designing complex robots and their sensor models from scratch.
