Adaptive Human-Aware Robot Navigation in Close Proximity to Humans

Mikael Svenstrup, Søren Tranberg Hansen, Hans Jørgen Andersen, Thomas Bak

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

15 Citationer (Scopus)
842 Downloads (Pure)

Abstract

For robots to be able coexist with people in future everyday human environments, they must be able to act in a safe, natural and comfortable way. This work addresses the motion of a mobile robot in an environment, where humans potentially want to interact with it. The designed system consists of three main components: a Kalman filter‐ based algorithm that derives a personʹs state information (position, velocity and orientation) relative to the robot; another algorithm that uses a Case‐Based Reasoning approach to estimate if a person wants to interact with the robot; and, finally, a navigation system that uses a potential field to derive motion that respects the personʹs social zones and perceived interest in interaction.
OriginalsprogEngelsk
TidsskriftInternational Journal of Advanced Robotic Systems
Vol/bind8
Udgave nummer2
Sider (fra-til)1-15
Antal sider15
ISSN1729-8806
StatusUdgivet - jun. 2011

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