On-Line Adaptive Side-by-Side Human Robot Companion to Approach a Moving Person to Interact

Abstract

In this paper, we present an on-line adaptive side-by-side human-robot companion to approach a moving person to interact with. Our framework makes the pair robot-human capable of overpass, in a joint way, the dynamic and static obstacles of the environment while they reach a moving goal, which is the person who wants to interact with the pair. We have defined a new moving final goal that depends on the environment, the movement of the group and the movement of the interacting person. Moreover, we modified the Extended Social Force model to include this new moving goal. The method has been validated over several situations in simulation. This work is an extension of [17].

People’s V-Formation and Side-by-Side Model Adapted to Accompany Groups of People by Social Robots

“…The terms in the equation, from left to right, evaluate the following characteristics: the distance to reach the goal, the difference between the real orientation of the robot and the desired orientation to reach the goal, the difficulty of the robot control to do the path, the work of the robot to avoid pedestrians and obstacles, and the performance of the companion task. For more information about the costs that evaluate the best path, the reader is referred to [19], [25]. Also, we include a brief explanation of the group behavior cost function in Sub-Section III-B.…”

“…Authors in [14] proposed a model of people walking sideby-side which could predict the partners future position, and subsequently generate a plan. In Repiso et al [19] the authors proposed a method for on-line adaptive side-by-side for human robot companion in dynamic urban environments and in [20] the authors extended the method to also approach a moving person to interact. In [21], researchers implemented a robot that follows people to obtain a more realistic and human-like navigation in crowded scenarios.…”

Robot Approaching and Engaging People in a Human-Robot Companion Framework

“…In previous work [1], we implemented a simple strategy for the pair human-robot to approach the target person. In this paper, we present a new approach which optimally achieve the tasks of approaching and engagement.…”

Robot Navigation to Approach People Using $$G^2$$-Spline Path Planning and Extended Social Force Model

“…The actual section describes our simulation environment and all the possible situations that we used to test and validate our implemented approach. To be able to test these situations we used a complex simulation environment, used in all our previous works [16,17] and also a Gazebo simulator. All is coded using C++ and ROS.…”

“…In our institute, we started to develop methods to approach a person in [16], where the robot tries to approach a person while accompanying another person. The model includes a framework to calculate a moving goal taken into account the movement of the approached person, the movement of the group and the best path to go throw the obstacles of the environment.…”