KHAOS: a Kinematic Human Aware Optimization-based System for Reactive Planning of Flying-Coworker
Jérôme Truc, Phani-Teja Singamaneni, Daniel Sidobre, Serena Ivaldi, Rachid Alami
Abstract
The use of drones in human-populated areas is increasing day by day. Such robots flying in close proximity to humans and potentially interacting with them, as in object handover or delivery, need to carefully plan their navigation considering the presence of humans. We propose a humanaware 3D reactive planner based on stochastic optimization for drone navigation. Besides considering the kinematics constraints of the drone, we propose two criteria to produce socially acceptable trajectories. The first, called discomfort, considers the unease caused to the humans spatially close to fast-moving drones. The second, called visibility, promotes the drone's visibility for humans. We demonstrate the planner's performance and adaptability in various simulated experiments.
BibTeX
@inproceedings{icra2022_khaosakinematich,
title = {KHAOS: a Kinematic Human Aware Optimization-based System for Reactive Planning of Flying-Coworker},
author = {Jérôme Truc and Phani-Teja Singamaneni and Daniel Sidobre and Serena Ivaldi and Rachid Alami},
booktitle = {ICRA 2022},
year = {2022}
}