Perception of Pedestrian Avoidance Strategies of a Self-Balancing Mobile Robot
Perception of Pedestrian Avoidance Strategies of a Self-Balancing Mobile Robot
复制标题
自平衡移动机器人行人避让策略的感知
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Ken
中科院分区：
文献类型：
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作者：
Shih;K. Yamane;Ken
移动的机器人在拥挤的环境中移动，必须在行人之间安全地导航。理想情况下，机器人避开行人的方式不仅应该是身体安全的，而且应该是安全和舒适的。尽管在无碰撞人群导航方面有丰富的文献，但对人类如何在导航环境中感知机器人行为的研究有限。在本文中，我们实现了三个本地行人回避策略的灵感来自人类的回避行为的自平衡移动的机器人和评估他们的感知在一个人-机器人交叉场景通过大规模的用户研究与98名参与者。研究结果表明，回避策略对被试感知机器人的安全性、舒适性和感知能力有不同程度的正向影响。此外，即使采用相同的策略，参与者在最后一次试验中也认为机器人比第一次试验更智能，更友好，更可靠。
Mobile robots moving in crowded environments have to navigate among pedestrians safely. Ideally, the way the robot avoids the pedestrians should not only be physically safe but also perceived safe and comfortable. Despite the rich literature in collision-free crowd navigation, limited research has been conducted on how humans perceive robot behaviors in the navigation context. In this paper, we implement three local pedestrian avoidance strategies inspired by human avoidance behaviors on a self-balancing mobile robot and evaluate their perception in a human-robot crossing scenario through a large-scale user study with 98 participants. The study reveals that the avoidance strategies positively affect the participants’ perception of the robot’s safety, comfort, and awareness to different degrees. Furthermore, the participants perceive the robot as more intelligent, friendly and reliable in the last trial than in the first even with the same strategy.