Abstract
Respecting people’s social spaces is an important
prerequisite for acceptable and natural robot navigation in
human environments. In this paper, we describe an adaptive
system for mobile robot navigation based on estimates of
whether a person seeks to interact with the robot or not.
The estimates are based on run-time motion pattern analysis
compared to stored experience in a database. Using a potential
field centered around the person, the robot positions itself at the
most appropriate place relative to the person and the interaction
status. The system is validated through qualitative tests in a real
world setting. The results demonstrate that the system is able
to learn to navigate based on past interaction experiences, and
to adapt to different behaviors over time.
prerequisite for acceptable and natural robot navigation in
human environments. In this paper, we describe an adaptive
system for mobile robot navigation based on estimates of
whether a person seeks to interact with the robot or not.
The estimates are based on run-time motion pattern analysis
compared to stored experience in a database. Using a potential
field centered around the person, the robot positions itself at the
most appropriate place relative to the person and the interaction
status. The system is validated through qualitative tests in a real
world setting. The results demonstrate that the system is able
to learn to navigate based on past interaction experiences, and
to adapt to different behaviors over time.
| Original language | English |
|---|---|
| Title of host publication | The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009 |
| Number of pages | 6 |
| Publisher | IEEE |
| Publication date | 2009 |
| Pages | 927-932 |
| ISBN (Print) | 978-1-4244-5081-7 |
| DOIs | |
| Publication status | Published - 2009 |
| Event | Robot and Human interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on - Toyama, Japan Duration: 27 Sept 2009 → 2 Oct 2009 |
Conference
| Conference | Robot and Human interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on |
|---|---|
| Country/Territory | Japan |
| City | Toyama |
| Period | 27/09/2009 → 02/10/2009 |
| Series | IEEE International Symposium on Robot and Human Interactive Communication |
|---|---|
| ISSN | 1944-9445 |
Keywords
- Human Robot Interaction
- Robot Control
- Robot Navigation
- Adaptive Robot Bahaviour
- Mobile Robotics
- Robot Learning