Adaptive Human-Aware Robot Navigation in Close Proximity to Humans

作者：Svenstrup Mikael^*; Hansen Soren Tranberg; Andersen Hans Jorgen; Bak Thomas

来源：International Journal of Advanced Robotic Systems, 2011, 8(2): 7-21.

• Human-Robot Interaction
• Robot Motion
• Intention Estimation

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 person's 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 person's 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.

• 出版日期2011-6