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 employed along with different well-known robotics simulators like Gazebo. The main goal is to ease the development and evaluation of human-aware robot navigation systems in simulation. Besides a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and realistic human navigation behaviors and a complete set of metrics for social navigation benchmarking.
@article{arxiv.2305.01303,
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},
journal= {arXiv preprint arXiv:2305.01303},
year = {2023}
}
Comments
Preprint version of the paper accepted in the RA-L Journal