Creating Legible Robotic Motion via Local Planning
Stowers, Dijon T.
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A requirement for human robot collaboration is that the robot’s movements display intent early in the interaction so that a human may respond to the action appropriately. Regarding autonomous navigation, local planning is responsible for creating this motion relative to a global plan in an environment with dynamic obstacles. This research is the augmentation, implementation, and testing of ROS embedded local planners DWA and TEB for the purpose of creating legible motion