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

Rushton, Simon K. ORCID: https://orcid.org/0000-0001-8161-4095 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:	24 Oct 2022 10:48
URI:	https://orca.cardiff.ac.uk/id/eprint/45919

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