Target position and avoidance margin effects on path planning in obstacle avoidance

Abstract This study examined how people choose their path to a target, and the visual information they use for path planning. Participants avoided stepping outside an avoidance margin between a stationary obstacle and the edge of a walkway as they walked to a bookcase and picked up a target from dif...

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Autores principales:	Mohammad R. Saeedpour-Parizi, Shirin E. Hassan, Ariful Azad, Kelly J. Baute, Tayebeh Baniasadi, John B. Shea
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/d001c07022094170aae7d11032fb8cf2
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spelling	oai:doaj.org-article:d001c07022094170aae7d11032fb8cf22021-12-02T18:47:07ZTarget position and avoidance margin effects on path planning in obstacle avoidance10.1038/s41598-021-94638-y2045-2322https://doaj.org/article/d001c07022094170aae7d11032fb8cf22021-07-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-94638-yhttps://doaj.org/toc/2045-2322Abstract This study examined how people choose their path to a target, and the visual information they use for path planning. Participants avoided stepping outside an avoidance margin between a stationary obstacle and the edge of a walkway as they walked to a bookcase and picked up a target from different locations on a shelf. We provided an integrated explanation for path selection by combining avoidance margin, deviation angle, and distance to the obstacle. We found that the combination of right and left avoidance margins accounted for 26%, deviation angle accounted for 39%, and distance to the obstacle accounted for 35% of the variability in decisions about the direction taken to circumvent an obstacle on the way to a target. Gaze analysis findings showed that participants directed their gaze to minimize the uncertainty involved in successful task performance and that gaze sequence changed with obstacle location. In some cases, participants chose to circumvent the obstacle on a side for which the gaze time was shorter, and the path was longer than for the opposite side. Our results of a path selection judgment test showed that the threshold for participants abandoning their preferred side for circumventing the obstacle was a target location of 15 cm to the left of the bookcase shelf center.Mohammad R. Saeedpour-PariziShirin E. HassanAriful AzadKelly J. BauteTayebeh BaniasadiJohn B. SheaNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-18 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Mohammad R. Saeedpour-Parizi Shirin E. Hassan Ariful Azad Kelly J. Baute Tayebeh Baniasadi John B. Shea Target position and avoidance margin effects on path planning in obstacle avoidance
description	Abstract This study examined how people choose their path to a target, and the visual information they use for path planning. Participants avoided stepping outside an avoidance margin between a stationary obstacle and the edge of a walkway as they walked to a bookcase and picked up a target from different locations on a shelf. We provided an integrated explanation for path selection by combining avoidance margin, deviation angle, and distance to the obstacle. We found that the combination of right and left avoidance margins accounted for 26%, deviation angle accounted for 39%, and distance to the obstacle accounted for 35% of the variability in decisions about the direction taken to circumvent an obstacle on the way to a target. Gaze analysis findings showed that participants directed their gaze to minimize the uncertainty involved in successful task performance and that gaze sequence changed with obstacle location. In some cases, participants chose to circumvent the obstacle on a side for which the gaze time was shorter, and the path was longer than for the opposite side. Our results of a path selection judgment test showed that the threshold for participants abandoning their preferred side for circumventing the obstacle was a target location of 15 cm to the left of the bookcase shelf center.
format	article
author	Mohammad R. Saeedpour-Parizi Shirin E. Hassan Ariful Azad Kelly J. Baute Tayebeh Baniasadi John B. Shea
author_facet	Mohammad R. Saeedpour-Parizi Shirin E. Hassan Ariful Azad Kelly J. Baute Tayebeh Baniasadi John B. Shea
author_sort	Mohammad R. Saeedpour-Parizi
title	Target position and avoidance margin effects on path planning in obstacle avoidance
title_short	Target position and avoidance margin effects on path planning in obstacle avoidance
title_full	Target position and avoidance margin effects on path planning in obstacle avoidance
title_fullStr	Target position and avoidance margin effects on path planning in obstacle avoidance
title_full_unstemmed	Target position and avoidance margin effects on path planning in obstacle avoidance
title_sort	target position and avoidance margin effects on path planning in obstacle avoidance
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/d001c07022094170aae7d11032fb8cf2
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Target position and avoidance margin effects on path planning in obstacle avoidance

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