HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
Noé Pérez-Higueras, Roberto Otero, Fernando Caballero, Luis Merino
Abstract
This work presents the Human Navigation Simulator ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">HuNavSim</i> ), 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, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">HuNavSim</i> includes, as a novelty, a rich set of individual and varied human navigation behaviors and an comprehensive set of metrics for social navigation benchmarking.
BibTeX
@inproceedings{ral2023_hunavsimaros2hum,
title = {HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation},
author = {Noé Pérez-Higueras and Roberto Otero and Fernando Caballero and Luis Merino},
booktitle = {RA-L 2023},
year = {2023}
}