TY - GEN
T1 - Mobile robot navigation for human-robot social interaction
AU - Patompak, Pakpoom
AU - Jeong, Sungmoon
AU - Chong, Nak Young
AU - Nilkhamhang, Itthisek
N1 - Publisher Copyright:
© 2016 Institute of Control, Robotics and Systems - ICROS.
PY - 2016/1/24
Y1 - 2016/1/24
N2 - Human social interactions are believed to be described by a mathematical model called the Social Force Model (SFM). A variety of mobile robot research has often used the SFM to generate an appropriate navigation behavior. However, to create a mobile robot that moves around in a human-populated environment in a socially acceptable way, it should be stressed that the social conventions are strictly obeyed. This paper proposes an extended SFM between humans and robots, called the Social Relationship Model (SRM), to enable mobile robots to generate navigation paths in a human-like manner. Simulation results show notable advantages of SRM over the Transition based Rapidly Random Tree (T-RRT) path planning algorithm. The proposed method ensures a socially acceptable robot path, one of the most important issues for human-robot symbiosis.
AB - Human social interactions are believed to be described by a mathematical model called the Social Force Model (SFM). A variety of mobile robot research has often used the SFM to generate an appropriate navigation behavior. However, to create a mobile robot that moves around in a human-populated environment in a socially acceptable way, it should be stressed that the social conventions are strictly obeyed. This paper proposes an extended SFM between humans and robots, called the Social Relationship Model (SRM), to enable mobile robots to generate navigation paths in a human-like manner. Simulation results show notable advantages of SRM over the Transition based Rapidly Random Tree (T-RRT) path planning algorithm. The proposed method ensures a socially acceptable robot path, one of the most important issues for human-robot symbiosis.
KW - Human-Robot Symbiosis
KW - Mobile Robot Navigation
KW - Social Force Model
KW - Social Relationship Model
UR - http://www.scopus.com/inward/record.url?scp=85014051874&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2016.7832481
DO - 10.1109/ICCAS.2016.7832481
M3 - Conference contribution
AN - SCOPUS:85014051874
T3 - International Conference on Control, Automation and Systems
SP - 1298
EP - 1303
BT - ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PB - IEEE Computer Society
T2 - 16th International Conference on Control, Automation and Systems, ICCAS 2016
Y2 - 16 October 2016 through 19 October 2016
ER -