Robot Navigation Metrics

A set of objective and subjective metrics for evaluating robot navigation behavior especially in crowded environments where socially compliant behavior is required.

Features

• Objective metrics based on trajectory geometry
  • Path length
  • Cumulative heading changes
  • Path similarity (based on a refence trajectory)
• Subjective metrics inspired from computational social sciences
  • Intrusion counts into various spaces as defined by Proxemics, i.e intimate, personal, social or any custom defined regions
  • Two ways of counting intrusions:
    • Uniform circles
    • Anisotropic regions
  • Relation disturbance (robot crossing relation links between people, e.g. a group)

Requirements

1. Numpy
2. Matplotlib, optional (only used in examples)

Installation

git clone https://github.com/makokal/navmet.git
cd navmet
python setup.py build
python setup.py develop  # for local devel install
[sudo] python setup.py install  # for global install

Usage

See examples folder

Roadmap

• Adding more objective and subjectibve metrics
• 'Energy type' metrics
• Elliptical regions as in Proxemics