Towards Socially Acceptable, Human-Aware Robot Navigation

Noelia Fernandez Coleto*, Eduardo Ruiz Ramírez, Frederik Haarslev, Leon Bodenhagen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

45 Downloads (Pure)

Abstract

The introduction of service robots to our daily life requires adaptation of the current navigation strategies. In the presence of humans, robots must be designed to ensure their safety and comfort. This paper proposes a layered costmap architecture that incorporates social norms to generate trajectories compatible with human preferences. The implemented framework creates a social abstraction of the environment – in the form of an occupancy grid – to plan human-friendly paths. It employs information about individuals in the scene to model their personal spaces. In addition, it uses predicted human trajectories to improve the efficiency and legibility of the robot trajectory. Different simulation scenarios resembling everyday situations have been used to evaluate the proposed framework. The results of the experiments have demonstrated its ability to behave according to social conventions. Furthermore, the navigation system was assessed in real life experiments where it was proved capable of following similar paths to those performed by humans.
Original languageEnglish
Title of host publicationSocial Robotics : 11th International Conference, ICSR 2019, Madrid, Spain, November 26–29, 2019, Proceedings
EditorsMiguel A. Salichs, Shuzhi Sam Ge, Emilia Ivanova Barakova, John-John Cabibihan, Alan R. Wagner, Álvaro Castro-González, Hongsheng He
PublisherSpringer
Publication date2019
Pages578-587
ISBN (Print)978-3-030-35887-7
ISBN (Electronic)Online ISBN 978-3-030-35888-4
DOIs
Publication statusPublished - 2019
Event11th International Conference on Social Robotics - Madrid, Madrid, Spain
Duration: 26. Nov 201929. Nov 2019

Conference

Conference11th International Conference on Social Robotics
LocationMadrid
Country/TerritorySpain
CityMadrid
Period26/11/201929/11/2019
SeriesLecture Notes in Computer Science
Volume11876
ISSN0302-9743

Keywords

  • HRI
  • Personal space
  • Socially acceptable navigation

Fingerprint

Dive into the research topics of 'Towards Socially Acceptable, Human-Aware Robot Navigation'. Together they form a unique fingerprint.

Cite this