Biologically-inspired heuristics for human-like walking trajectories toward targets and around obstacles

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• 作者：Simon K. Rushton^a ; ^b ; ^{rushtonsk@cardiff.ac.uk} ; Robert S. Allison^a
• 关键词：Locomotion ; Walking ; Guidance ; Egocentric direction ; Target drift ; Obstacle avoidance
• 刊名：Displays
• 出版年：2013
• 出版时间：April, 2013
• 年：2013
• 卷：34
• 期：2
• 页码：105-113
• 全文大小：1005 K

文摘

We describe simple heuristics, based on perceptual variables, that produce human-like trajectories towards moving and stationary targets, and around moving and stationary obstacles. Interception of moving and stationary objects can be achieved through regulation of self-movement to maintain a target at a constant eccentricity, or by cancelling the change (drift) in the eccentricity of the target. We first show how a constant eccentricity strategy can be extended to home in on optimal paths and avoid obstacles. We then identify a simple visual speed ratio that signals a future collision, and the change in path needed for avoidance. The combination of heuristics based on eccentricity and the speed-ratio produces human-like behaviour. The heuristics can be used to animate avatars in virtual environments or to guide mobile robots. Combined with higher-level goal setting and way-finding behaviours, such navigation heuristics could provide the foundation for generative models of natural human locomotion.