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

Rushton, Simon K. and Allison, Robert S. 2013. Biologically-inspired heuristics for human-like walking trajectories toward targets and around obstacles. Displays 34 (2) , pp. 105-113. 10.1016/j.displa.2012.10.006

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Abstract

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.

Item Type: Article
Date Type: Publication
Status: Published
Schools: Psychology
Subjects: B Philosophy. Psychology. Religion > BF Psychology
Q Science > QH Natural history > QH301 Biology
Uncontrolled Keywords: Locomotion; Walking; Guidance; Egocentric direction; Target drift; Obstacle avoidance
Publisher: Elsevier
ISSN: 0141-9382
Last Modified: 04 Jun 2017 04:52
URI: http://orca.cf.ac.uk/id/eprint/45919

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