TY - JOUR
T1 - Adaptive Human-Aware Robot Navigation in Close Proximity to Humans
AU - Svenstrup, Mikael
AU - Hansen, Søren Tranberg
AU - Andersen, Hans Jørgen
AU - Bak, Thomas
PY - 2011/6
Y1 - 2011/6
N2 - 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.The operation of the system is evaluated in a controlled scenario in an open hall environment. It is demonstrated that the robot is able to learn to estimate if a person wishes to interact, and that the system is capable of adapting to changing behaviours of the humans in the environment.
AB - 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.The operation of the system is evaluated in a controlled scenario in an open hall environment. It is demonstrated that the robot is able to learn to estimate if a person wishes to interact, and that the system is capable of adapting to changing behaviours of the humans in the environment.
KW - Human‐Robot Interaction
KW - Robot Motion
KW - Intention Estimation
M3 - Journal article
SN - 1729-8806
VL - 8
SP - 1
EP - 15
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
IS - 2
ER -