基于组合权重的社交导航质量评价模型设计

IF 0.8 Q4 ROBOTICS
Hao Wu, Haipeng Liu, Kun Wang
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引用次数: 0

摘要

基于移动机器人在社交导航中的人机交互行为,针对社交导航质量评价中存在指标单一、量化粗糙、信息不收敛等问题,提出了一种基于组合权重的社交导航质量评价模型。首先,设计了舒适性、自然性和社会性三个评价模块,并将每个模块细化为一级指标和二级指标。利用指标量化公式计算机器人路径导航数据。其次,结合层次分析法的主客观权重和熵权法确定各层次指标的权重;利用加权和实现指标信息的融合,得到评价导航算法的最优解。最后,通过可视化仿真实验对社交场景进行仿真,得到机器人在社交场景中的轨迹数据。实验结果验证了理论模型的可行性,并给出了所测试算法的最终得分和优化意见。通过对社会导航质量评价模型的评价,可以在被测算法中找到最适合当前场景下行人舒适感知的路径规划算法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design of social navigation quality evaluation model based on combined weight

Based on the human–robot interaction behavior of mobile robots in social navigation, this paper proposes a social navigation quality evaluation model based on combined weights for the problems of single indicators, rough quantification and non-convergence of information in social navigation quality evaluation. Firstly, three evaluation modules of comfort, naturalness and sociality are designed, and each module is refined into primary and secondary indicators. The robot path navigation data are calculated by the indicator quantification formula. Secondly, the subjective and objective weights of hierarchical analysis method and the entropy weight method are combined to determine the index weights at each level. The weighted sum is used to achieve the fusion of index information and obtain the optimal solution of the evaluation navigation algorithm. Finally, we simulate the social scene through visualization simulation experiments to obtain the trajectory data of the robot in the social scene. The experimental results verify the feasibility of the theoretical model and give the final scores and optimization opinions of the tested algorithms. Through the evaluation of the social navigation quality evaluation model, the path planning algorithm that best suits the comfort perception of pedestrians in the current scenario can be found in the tested algorithms.

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来源期刊
CiteScore
2.00
自引率
22.20%
发文量
101
期刊介绍: Artificial Life and Robotics is an international journal publishing original technical papers and authoritative state-of-the-art reviews on the development of new technologies concerning artificial life and robotics, especially computer-based simulation and hardware for the twenty-first century. This journal covers a broad multidisciplinary field, including areas such as artificial brain research, artificial intelligence, artificial life, artificial living, artificial mind research, brain science, chaos, cognitive science, complexity, computer graphics, evolutionary computations, fuzzy control, genetic algorithms, innovative computations, intelligent control and modelling, micromachines, micro-robot world cup soccer tournament, mobile vehicles, neural networks, neurocomputers, neurocomputing technologies and applications, robotics, robus virtual engineering, and virtual reality. Hardware-oriented submissions are particularly welcome. Publishing body: International Symposium on Artificial Life and RoboticsEditor-in-Chiei: Hiroshi Tanaka Hatanaka R Apartment 101, Hatanaka 8-7A, Ooaza-Hatanaka, Oita city, Oita, Japan 870-0856 ©International Symposium on Artificial Life and Robotics
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