HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation

TL;DR

HuNavSim 2.0 is an open-source, ROS 2-based human navigation simulator that enhances the development and testing of human-aware robot navigation systems with new features and realistic behavior modeling.

Contribution

The paper introduces HuNavSim 2.0, an improved open-source simulator with extended capabilities for modeling complex human behaviors in robot navigation scenarios.

Findings

Enhanced set of actions and conditions for behavior modeling

Compatibility with Gazebo and NVidia Isaac Sim

Facilitates development of human-aware navigation systems

Abstract

This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2 framework, can be used together with different well-known robotics simulators such as Gazebo or NVidia Isaac Sim. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In this new version, several features have been improved and new ones added, such as the extended set of actions and conditions that can be combined in Behavior Trees to compound complex and realistic human behaviors.