Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments

Implementation code for our paper "Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments"

Thanh Nguyen Canh, Xiem HoangVan, Nak Young Chong"Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments, 2024. [IEEE Explore] [Citation]

Citation

@INPROCEEDINGS{Canh2024Enhancing,
  title = {The International Conference on Control, Automation, and Systems (ICCAS)},
  DOI = {},
  booktitle = {Journal of Automation, Mobile Robotics and Intelligent Systems},
  publisher = {IEEE},
  author = {Thanh, Nguyen Canh and Xiem, HoangVan and NakYoung, Chong},
  year = {2024},
  pages = {}
}

Our proposed:

Requirements

• ubuntu 20.04
• ROS Noetic

Usage:

• 1. Step 1: Clone this repo

git clone https://github.com/thanhnguyencanh/SGan-TEB

catkin build
cd SGan-TEB

• 2. Step 2: Creating a map with mapping algorithm:

export TURTLEBOT3_MODEL=waffle

roslaunch turtlebot3_gazebo turtlebot3_house.launch

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

rosrun map_server map_saver -f $(rospack find turtlebot3_navigation)/turtlebot3_house.yaml

• 3. Step 3: System startup:

#Using Turtlebot 3 Waffle
export TURTLEBOT3_MODEL=waffle

#Initialize gazebo
roslaunch turtlebot3_gazebo turtlebot3_house.launch

#Run YOLO object detection
roslaunch darknet_ros darknet_ros.launch

#Run human trajectory tracking node
rosrun hdetect hdetect_node

#Run trajectory prediction node
rosrun sgan predict_tracks.py

#Navigate robot in Rviz
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$(rospack find turtlebot3_navigation)/turtlebot3_house.yaml