Publication

Social-aware robot navigation in urban environments

Conference Article

Conference

European Conference on Mobile Robots (ECMR)

Edition

6th

Pages

331-336

Doc link

http://dx.doi.org/10.1109/ECMR.2013.6698863

File

Download the digital copy of the doc pdf document

Abstract

In this paper we present a novel robot navigation approach based on the so-called Social Force Model (SFM). First, we construct a graph map with a set of destinations that completely describe the navigation environment. Second, we propose a robot navigation algorithm, called social-aware navigation, which is mainly driven by the social-forces centered at the robot. Third, we use a MCMC Metropolis-Hastings algorithm in order to learn the parameters values of the method. Finally, the validation of the model is accomplished throughout an extensive set of simulations and real-life experiments.

Categories

intelligent robots.

Scientific reference

G. Ferrer, A. Garrell Zulueta and A. Sanfeliu. Social-aware robot navigation in urban environments, 6th European Conference on Mobile Robots, 2013, Barcelona, pp. 331-336.