Mobile robot path planning based on social interaction space in social environment

Zou, Yanbiao

doi:10.1177/1729881418776183

Cited by 14 publications

(9 citation statements)

References 10 publications

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“…These dynamic obstacles, as people, have properties: velocity or directions. Other works developed different social features that could be considered for path planning such as [20][21][22][23].…”

Section: Related Workmentioning

confidence: 99%

“…In [33], the authors expanded their previous work [30] and continued studying DSZ to introduce a module able to predict poses to incorporate group interaction and people in different positions or features, such as a sitting person, a moving person, interaction with some object, and gaze direction. In Chen et al [21], the authors used the A* algorithm [34] to avoid obstacles and introduced the use of an asymmetric Gaussian function to define a social zone [35]. The idea incorporates asymmetry while delimiting the boundaries of the Gaussian function.…”

Section: Related Workmentioning

confidence: 99%

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

Sousa

Barrios-Aranibar

Díaz-Amado

et al. 2022

Sensors

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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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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

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

Sousa

Barrios-Aranibar

Díaz-Amado

et al. 2022

Sensors

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show abstract

“…There are some techniques to measure the error in the approximation versus the number of PGD terms (n). One of the most appropriate error estimators is the L 2 (Ω X × Ω S × Ω T )-residual R(n) obtained by inserting the PGD-vademecum approximation into the Poisson Equation ( 6) and calculating the residual (10), that is…”

Section: A Pgd-vademecum Solutionmentioning

confidence: 99%

“…This technique is very fast for RT applications, except when the vehicle is trapped in a deadlock (a local minimum of the potential function). For this reason, this technique is currently being investigated in the fields of mobile robotics [6], intelligent vehicles [7,8] and social robotics [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Path Planning Based on Harmonic Functions under a Proper Generalized Decomposition-Based Framework

Montés

Chinesta

Mora

et al. 2021

Sensors

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This paper presents a real-time global path planning method for mobile robots using harmonic functions, such as the Poisson equation, based on the Proper Generalized Decomposition (PGD) of these functions. The main property of the proposed technique is that the computational cost is negligible in real-time, even if the robot is disturbed or the goal is changed. The main idea of the method is the off-line generation, for a given environment, of the whole set of paths from any start and goal configurations of a mobile robot, namely the computational vademecum, derived from a harmonic potential field in order to use it on-line for decision-making purposes. Up until now, the resolution of the Laplace or Poisson equations has been based on traditional numerical techniques unfeasible for real-time calculation. This drawback has prevented the extensive use of harmonic functions in autonomous navigation, despite their powerful properties. The numerical technique that reverses this situation is the Proper Generalized Decomposition. To demonstrate and validate the properties of the PGD-vademecum in a potential-guided path planning framework, both real and simulated implementations have been developed. Simulated scenarios, such as an L-Shaped corridor and a benchmark bug trap, are used, and a real navigation of a LEGO®MINDSTORMS robot running in static environments with variable start and goal configurations is shown. This device has been selected due to its computational and memory-restricted capabilities, and it is a good example of how its properties could help the development of social robots.

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“…Then the data of human-related zone is incorporated into motion planner to navigate from both static and dynamic obstacles. In the same issue, Chen et al 15 suggested an efficient framework integrating task constraints and social conventions for path planning. The two-dimensional asymmetric Gaussian function is used to calculate the cost of points in social interaction space.…”

Section: Introductionmentioning

confidence: 99%

Develop the socially human-aware navigation system using dynamic window approach and optimize cost function for autonomous medical robot

Ngo

Thien

et al. 2020

Advances in Mechanical Engineering

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In previous works, the perceived safety and comfort are currently not the principal objectives of all industries, especially robotics system. It might lead not to take psychological safety into consideration of adjusting robot behavior, hence, the human-robot interaction lacks of ease and naturalness. In this paper, a novel framework of human’s zones to ensure safety for social interactions in human-machine system is proposed. In the context of service robot in hospital, machine should not produce any actions that may induce worry, surprise or bother. To maintain the comfortable interaction, an algorithm to update human’s state into personal space is developed. Then, a motion model of robot is demonstrated with assumption of the reference path under segmentation. Dynamic Window Approach is employed for motion planning while Optimize Cost function searches the shortest path in a graph. To validate our approach, three test cases (without human-aware framework, with basic model of human’s zone and with extended personal space) are carried out in the same context. Moreover, three interactive indicators, for instance collision index (CI), interaction index (CII) and relative velocity of robot (Vr), are analyzed in different situations. Lack of human-aware framework, robot might break all thresholds and meet the potential collisions. While robot with basic model of human’s zone in its perception maintains the physically safe thresholds but not socially, it respects whole criterions in both physical constraints and social relations. As a result, our findings are useful for robot’s navigation in presence of human while the socially comfortable interaction is guaranteed.

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Mobile robot path planning based on social interaction space in social environment

Cited by 14 publications

References 10 publications

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

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

Real-Time Path Planning Based on Harmonic Functions under a Proper Generalized Decomposition-Based Framework

Develop the socially human-aware navigation system using dynamic window approach and optimize cost function for autonomous medical robot

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