Adaptive Human aware Navigation based on Motion Pattern Analysis

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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.
Original languageEnglish
Title of host publicationThe 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009
Number of pages6
PublisherIEEE
Publication date2009
Pages927-932
ISBN (Print)978-1-4244-5081-7
DOIs
Publication statusPublished - 2009
EventRobot and Human interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on - Toyama, Japan
Duration: 27 Sep 20092 Oct 2009

Conference

ConferenceRobot and Human interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on
CountryJapan
CityToyama
Period27/09/200902/10/2009
SeriesIEEE International Symposium on Robot and Human Interactive Communication
ISSN1944-9445

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Keywords

  • Human Robot Interaction
  • Robot Control
  • Robot Navigation
  • Adaptive Robot Bahaviour
  • Mobile Robotics
  • Robot Learning

Cite this

Hansen, S. T., Svenstrup, M., Andersen, H. J., & Bak, T. (2009). Adaptive Human aware Navigation based on Motion Pattern Analysis. In The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009 (pp. 927-932). IEEE. IEEE International Symposium on Robot and Human Interactive Communication https://doi.org/10.1109/ROMAN.2009.5326212