Article

This study investigated collision avoidance between two walkers by focusing on
the conditions that lead to avoidance manoeuvres in locomotor trajectories.
Following the hypothesis of a reciprocal interaction, we suggested a mutual
variable as a continuous function of the two walkers' states, denoted minimum
predicted distance (MPD). This function predicts the risk of collision, and its
evolution over time captures the motion adaptations performed by the walkers. By
groups of two, 30 walkers were assigned locomotion tasks which lead to potential
collisions. Results showed that walkers adapted their motions only when required,
i.e., when MPD is too low (<1 m). We concluded that walkers are able (i) to
accurately estimate their reciprocal distance at the time the crossing will
occur, and (ii) to mutually adapt this distance. Furthermore, the study of MPD
evolution showed three successive phases in the avoidance interaction:
observation where MPD(t) is constant, reaction where MPD(t) increases to
acceptable values by adapting locomotion and regulation where MPD(t) reaches a
plateau and slightly decreases. This final phase demonstrates that collision
avoidance is actually performed with anticipation. Future work would consist in
inspecting individual motion adaptations and relating them with the variations of
MPD.
CI - Copyright (c) 2012 Elsevier B.V. All rights reserved.

Langue : ANGLAIS