Mapless Navigation among Dynamics with Social-safety-awareness: a reinforcement learning approach from 2D laser scans
Mapless Navigation among Dynamics with Social-safety-awareness: a reinforcement learning approach from 2D laser scans
We consider the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective and social-safety to measure the impact of robot's actions on surrounding pedestrians. Specifically, the social-safety part predicts the intrusion impact of the …