Intelligent Robot Navigation Based on Human Emotional Model in Human-Aware Environment

2019 International Conference on Machine Learning and Cybernetics (ICMLC) Pub Date : 2019-07-01 DOI:10.1109/ICMLC48188.2019.8949247

T. Obo, Yuto Nakamura

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引用次数: 3

Abstract

This paper presents a method for controlling a mobile robot in dynamic environments, based on an investigation of human's impression of the robot movements. Human-aware robot navigation has been discussed in terms of comfort, naturalness and sociability. Even a robot has a function to perform and move safely around individuals, the people may feel annoyance and stress about the performance. The naturalness of robot's movements in human societies is one of the most important topics for human-aware robot navigation. Moreover, such robot systems are required to adaptively decide the priority of behaviors such as collision avoiding, target tracing, and wall following to achieve the navigation objective. In this study, we therefore developed a fuzzy controller for challenging the above issue. We conducted a questionnaire for investigating human's impression of the movements and modeling the degree of emotional intensity after the person followed close behind the robot. Moreover, we built a simulated environment to evaluate the performance of the mobile robot in a dynamic environment.

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基于人类感知环境下人类情感模型的智能机器人导航

本文在研究人对机器人运动印象的基础上，提出了一种动态环境下移动机器人的控制方法。人类感知机器人导航从舒适性、自然性和社交性三个方面进行了探讨。即使一个机器人有一个功能来执行和安全移动的人，人们可能会感到烦恼和压力的表现。人类社会中机器人运动的自然性是人类感知机器人导航研究的重要课题之一。此外，这类机器人系统需要自适应地决定避碰、目标跟踪、墙体跟踪等行为的优先级，以实现导航目标。因此，在本研究中，我们开发了一个模糊控制器来挑战上述问题。我们进行了问卷调查，调查人类对这些动作的印象，并模拟人类紧跟在机器人后面的情绪强度。此外，我们建立了一个模拟环境来评估移动机器人在动态环境中的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 International Conference on Machine Learning and Cybernetics (ICMLC)

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