Influence of path curvature on collision avoidance behaviour between two walkers
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RESEARCH ARTICLE
Influence of path curvature on collision avoidance behaviour between two walkers Sean D. Lynch1 · Richard Kulpa1 · Laurentius A. Meerhoff1 · Anthony Sorel1 · Julien Pettré2 · Anne‑Hélène Olivier1 Received: 1 April 2020 / Accepted: 2 November 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Navigating crowded community spaces requires interactions with pedestrians that follow rectilinear and curvilinear trajectories. In the case of rectilinear trajectories, it has been shown that the perceived action opportunities of the walkers might be afforded based on a future distance of closest approach. However, little is known about collision avoidance behaviours when avoiding walkers that follow curvilinear trajectories. Twenty-two participants were immersed in a virtual environment and avoided a virtual human (VH) that followed either a rectilinear path or a curvilinear path with a 5 m or 10 m radius curve at various distances of closest approach. Compared to a rectilinear path (control condition), the curvilinear path with a 5 m radius yielded more collisions when the VH approached from behind the participant and more inversions when the VH approached from in-front. During each trial, the evolution of the future distance of closest approach showed similarities between rectilinear paths and curvilinear paths with a 10 m radius curve. Overall, with few collisions and few inversions of crossing order, we can conclude that participants were capable of predicting future distance of closest approach of virtual walkers that followed curvilinear trajectories. The task was solved with similar avoidance adaptations to those observed for rectilinear interactions. These findings should inform future endeavors to further understand collision avoidance strategies and the role of—for example—non-constant velocities. Keywords Collision avoidance · Locomotion · Virtual reality · Curved trajectories · Perception · Interaction
Introduction In the ordinary case of walking on the street, we take in information about our environment to regulate our interpersonal distances with other obstacles and move without collision. Some obstacles are stationary, while others move (i.e., human obstacles). Furthermore, those obstacles can be passive and thus non-responsive to changes in the environment (Gérin-Lajoie et al. 2005; Cinelli and Patla 2007) or reactive (Olivier et al. 2013; Vassallo et al. 2018). For both Communicated by Francesco Lacquaniti. Electronic supplementary material The online version of this article (https://doi.org/10.1007/s00221-020-05980-y) contains supplementary material, which is available to authorized users. * Sean D. Lynch [email protected] 1
Univ Rennes, Inria, M2S—EA 7470, 35000 Rennes, France
Univ Rennes, CNRS, Inria, IRISA—UMR 6074, 35000 Rennes, France
2
passive and reactive interactions, interpersonal-distance regulation requires a continuous coupling between perception and action. Distance regulation has previously been considered for interception tasks
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