title: Towards Assessing the Human Trajectory Planning Horizon.
abstract: Mobile robots are envisioned to cooperate closely with humans and to integrate seamlessly into a shared environment. For locomotion, these environments resemble traversable areas which are shared between multiple agents like humans and robots. The seamless integration of mobile robots into these environments requires accurate predictions of human locomotion. This work considers optimal control and model predictive control approaches for accurate trajectory prediction and proposes to integrate aspects of human behavior to improve their performance. Recently developed models are not able to reproduce accurately trajectories that result from sudden avoidance maneuvers. Particularly, the human locomotion behavior when handling disturbances from other agents poses a problem. The goal of this work is to investigate whether humans alter their trajectory planning horizon, in order to resolve abruptly emerging collision situations. By modeling humans as model predictive controllers, the influence of the planning horizon is investigated in simulations. Based on these results, an experiment is designed to identify, whether humans initiate a change in their locomotion planning behavior while moving in a complex environment. The results support the hypothesis, that humans employ a shorter planning horizon to avoid collisions that are triggered by unexpected disturbances. Observations presented in this work are expected to further improve the generalizability and accuracy of prediction methods based on dynamic models.
authors.affiliation: Chair of Automatic Control Engineering, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany.
authors.forename: Daniel
authors.identifier: http://orcid.org/0000-0002-1736-7496
authors.initials: D
authors.lastname: Carton
authors.affiliation: Human Factors Institute, Universität der Bundeswehr München, Werner-Heisenberg-Weg 39, 85577 Neubiberg, Germany.
authors.forename: Verena
authors.initials: V
authors.lastname: Nitsch
authors.affiliation: Chair of Automatic Control Engineering, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany.
authors.forename: Dominik
authors.initials: D
authors.lastname: Meinzer
authors.affiliation: Chair of Automatic Control Engineering, Technical University of Munich, Theresienstr. 90, 80333 Munich, Germany.
authors.forename: Dirk
authors.initials: D
authors.lastname: Wollherr
mesh_terms: D001185:Artificial Intelligence; D003198:Computer Simulation; D003625:Data Collection / Q000379:methods; D006801:Humans; D008124:Locomotion; D008962:Models, Theoretical; D009038:Motion; D009068:Movement; D012371:Robotics / Q000379:methods*