Robot social-aware navigation framework to accompany people walking side-by-side
Robot social-aware navigation framework to accompany people walking side-by-side
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DOI：
10.1007/s10514-016-9584-y
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发表时间：
2017-04-01
影响因子：
3.5
通讯作者：
Sanfeliu, Alberto
中科院分区：
文献类型：
--
作者：
Ferrer, Gonzalo;Garrell Zulueta, Anais;Sanfeliu, Alberto
我们提出了一种新型的机器人社会感知导航框架，以安全自然的方式与人在拥挤的城市地区并肩行走。新系统包括以下几个关键问题：提出一种新的机器人社会感知导航模型来陪伴人；扩展社会力模型，“扩展社会力模型”，考虑人与机器人的相互作用；使用人类预测器来估计与机器人同行的人的目的地；以及使用多模态人类反馈交互式地学习社会感知导航模型的参数。最后，引入了一种基于人的个人空间和舒适标准的定量度量，以定量评价机器人的任务性能。该模型的验证是通过广泛的模拟和现实生活中的实验来完成的。此外，志愿者的调查是用来衡量我们的机器人同伴的行为的可接受性。
We present a novel robot social-aware navigation framework to walk side-by-side with people in crowded urban areas in a safety and natural way. The new system includes the following key issues: to propose a new robot social-aware navigation model to accompany a person; to extend the Social Force Model, "Extended Social-Force Model", to consider the person and robot's interactions; to use a human predictor to estimate the destination of the person the robot is walking with; and to interactively learning the parameters of the social-aware navigation model using multimodal human feedback. Finally, a quantitative metric based on people's personal spaces and comfortableness criteria, is introduced in order to evaluate quantitatively the performance of the robot's task. The validation of the model is accomplished throughout an extensive set of simulations and real-life experiments. In addition, a volunteers' survey is used to measure the acceptability of our robot companion's behavior.