Computer Engineering Commons^™

Models For Pedestrian Trajectory Prediction And Navigation In Dynamic Environments, Jeremy N. Kerfs

Master's Theses

Robots are no longer constrained to cages in factories and are increasingly taking on roles alongside humans. Before robots can accomplish their tasks in these dynamic environments, they must be able to navigate while avoiding collisions with pedestrians or other robots. Humans are able to move through crowds by anticipating the movements of other pedestrians and how their actions will influence others; developing a method for predicting pedestrian trajectories is a critical component of a robust robot navigation system. A current state-of-the-art approach for predicting pedestrian trajectories is Social-LSTM, which is a recurrent neural network that incorporates information about neighboring …