The increased diffusion of service robots operating in tight collaboration with humans has renewed the interest of the scientific community towards realistic human motion models. In this paper, we present the Headed Social Force Model, a modeling approach enriching Helbing's Social ForceModel with Laumond's human locomotion models. The proposed solution is shown to inherit the best features of either models, being able to reliably reproduce pedestrians' motions both in free space and in highly crowded environments. Extensive numerical simulations are presented in order to evaluate the performance under very different operating conditions.
Farina, F., D., F., Garulli, A., Giannitrapani, A., Prattichizzo, D. (2016). When Helbing Meets Laumond: The Headed Social Force Model. In Proc. 2016 IEEE 55th Conference on Decision and Control (CDC) (pp.3548-3553). IEEE [10.1109/CDC.2016.7798802].
When Helbing Meets Laumond: The Headed Social Force Model
FARINA, FRANCESCO;GARULLI, ANDREA;GIANNITRAPANI, ANTONIO;PRATTICHIZZO, DOMENICO
2016-01-01
Abstract
The increased diffusion of service robots operating in tight collaboration with humans has renewed the interest of the scientific community towards realistic human motion models. In this paper, we present the Headed Social Force Model, a modeling approach enriching Helbing's Social ForceModel with Laumond's human locomotion models. The proposed solution is shown to inherit the best features of either models, being able to reliably reproduce pedestrians' motions both in free space and in highly crowded environments. Extensive numerical simulations are presented in order to evaluate the performance under very different operating conditions.
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Descrizione: Accepted version © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Digital Object Identifier (DOI): 10.1109/CDC.2016.7798802
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https://hdl.handle.net/11365/1005541