TY - GEN
T1 - A multilevel mapping based pedestrian model for social robot navigation tasks in unknown human environments
AU - Kivrak, Hasan
AU - Cakmak, Furkan
AU - Kose, Hatice
AU - Yavuz, Sirma
N1 - Funding Information:
1Computer Engineering Department, Karabuk University, Karabuk, Turkey [email protected] 2Computer Engineering Department, Istanbul Technical University, Istanbul, Turkey {kivrakh, hatice.kose}@itu.edu.tr 3Computer Engineering Department, Yildiz Technical University, Istanbul, Turkey {fcakmak, smyavuz}@yildiz.edu.tr *This work is supported by The Scientific and Technological Research Council of Turkey (TUBITAK) under the Grant number 118E214, and Yildiz Technical University Scientific Research Project, Project No: FDK-2017-3044 978-1-7281-6799-2/20/$31.00 ©c 2020 IEEE
Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - Social robot navigation aims to generate human-friendly paths in human-robot interactive environments. This paper focuses on maintaining humans' physical safety and mental comfort during robot navigation in an unknown dynamic environment. To achieve this goal, we use a variant of a pedestrian model that is particularly developed for low or average density environments. Design decisions on the representation of the obstacle and pedestrian are important for smooth motion planning. Limiting the local obstacles as a region centered at the robot would be taken into consideration has weaknesses in terms of time complexity because a much detailed map has a great number of cells to be evaluated. The study contributes to the theoretical field with extensions such as the development of the obstacle representation model which aims to overcome the computational cost of the current solutions for smooth motion planning which can be a bottleneck for the entire system. The proposed method is tested on a physical mobile robot in hallway scenario both in real-world environment and simulation, and its success is experimentally shown.
AB - Social robot navigation aims to generate human-friendly paths in human-robot interactive environments. This paper focuses on maintaining humans' physical safety and mental comfort during robot navigation in an unknown dynamic environment. To achieve this goal, we use a variant of a pedestrian model that is particularly developed for low or average density environments. Design decisions on the representation of the obstacle and pedestrian are important for smooth motion planning. Limiting the local obstacles as a region centered at the robot would be taken into consideration has weaknesses in terms of time complexity because a much detailed map has a great number of cells to be evaluated. The study contributes to the theoretical field with extensions such as the development of the obstacle representation model which aims to overcome the computational cost of the current solutions for smooth motion planning which can be a bottleneck for the entire system. The proposed method is tested on a physical mobile robot in hallway scenario both in real-world environment and simulation, and its success is experimentally shown.
KW - human-robot interaction
KW - mobile service robots
KW - socially aware robot navigation
UR - http://www.scopus.com/inward/record.url?scp=85092005567&partnerID=8YFLogxK
U2 - 10.1109/INISTA49547.2020.9194617
DO - 10.1109/INISTA49547.2020.9194617
M3 - Conference contribution
AN - SCOPUS:85092005567
T3 - INISTA 2020 - 2020 International Conference on INnovations in Intelligent SysTems and Applications, Proceedings
BT - INISTA 2020 - 2020 International Conference on INnovations in Intelligent SysTems and Applications, Proceedings
A2 - Ivanovic, Mirjana
A2 - Yildirim, Tulay
A2 - Trajcevski, Goce
A2 - Badica, Costin
A2 - Bellatreche, Ladjel
A2 - Kotenko, Igor
A2 - Badica, Amelia
A2 - Erkmen, Burcu
A2 - Savic, Milos
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on INnovations in Intelligent SysTems and Applications, INISTA 2020
Y2 - 24 August 2020 through 26 August 2020
ER -