How Knowledge about the Environment Influences the Navigation of a Robot through a Crowd
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2019-06-28
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en
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Abstract
Robots are integrating more into society and some of them have to
navigate through crowds. For those robots it is important to know how
much knowledge they need about the environment to efficiently navigate.
This Bachelor’s thesis examines how the amount of knowledge about the
environment influences the navigation of a robot through a crowd. The
influence has been researched using a simulation created in Unity. The
knowledge has been provided by the Navigation Mesh (NavMesh) which
the robot used to navigate. The size of the NavMesh has been varied to
change the amount of knowledge. The influence of the knowledge has
been researched in different environments with different properties, such as
static and dynamic obstacles and narrow and broad passages. The size of
the crowd has also been manipulated to see if that influences the effect of
knowledge. The results show that the knowledge has no systematic
influence on the number of collisions. It does affect the time a navigation
takes in broad environments, narrow scenes show no effect. However, the
additional benefit of more knowledge is quite minimal. This concludes that a
robot’s navigation through a crowd can do relatively well with relatively little
knowledge.
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Faculteit der Sociale Wetenschappen