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arXiv · 2305.01303

HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation

Noé Pérez-Higueras·Roberto Otero·Fernando Caballero·Luis Merino
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Abstract

This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2 framework, can be employed along with different well-known robotics simulators like Gazebo. The main goal is to ease the development and evaluation of human-aware robot navigation systems in simulation. Besides a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and realistic human navigation behaviors and a complete set of metrics for social navigation benchmarking.

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Noé Pérez-Higueras, Roberto Otero, Fernando Caballero, Luis Merino. 2023-05-02. HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation. https://arxiv.org/abs/2305.01303

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