A New Approach for Including Social Conventions into Social Robots Navigation by Using Polygonal Triangulation and Group Asymmetric Gaussian Functions

Abstract

Many authors have been working on approaches that can be applied to social robots to allow a more realistic/comfortable relationship between humans and robots in the same space. This paper proposes a new navigation strategy for social environments by recognizing and considering the social conventions of people and groups. To achieve that, we proposed the application of Delaunay triangulation for connecting people as vertices of a triangle network. Then, we defined a complete asymmetric Gaussian function (for individuals and groups) to decide zones where the robot must avoid passing. Furthermore, a feature generalization scheme called socialization feature was proposed to incorporate perception information that can be used to change the variance of the Gaussian function. Simulation results have been presented to demonstrate that the proposed approach can modify the path according to the perception of the robot compared to a standard A* algorithm.

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“…Mobile robots have drawn the attention of many academics in recent years because to their agility, adaptability, and capacity to be used in a variety of challenging missions, particularly in regards to autonomous navigation in the warehouse or restricted region [1][2][3][4][5][6][7][8][9][10]. There is a rising demand for complicated applications nowadays, when the working environment includes humans moving robots, or unexpected impediments [11][12][13].…”

Principle Operation of a Line Follower Robot

“…Mobile robots have drawn the attention of many academics in recent years because to their agility, adaptability, and capacity to be used in a variety of challenging missions, particularly in regards to autonomous navigation in the warehouse or restricted region [1][2][3][4][5][6][7][8][9][10]. There is a rising demand for complicated applications nowadays, when the working environment includes humans moving robots, or unexpected impediments [11][12][13].…”