期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
DOI：10.5772/10570
语种：English
出版社：SAGE Publications
摘要：For robots to be able coexist with people in future everyday human environments, they must be able to act in a safe, natural and comfortable way. This work addresses the motion of a mobile robot in an environment, where humans potentially want to interact with it. The designed system consists of three main components: a Kalman filter-based algorithm that derives a person's state information (position, velocity and orientation) relative to the robot; another algorithm that uses a Case-Based Reasoning approach to estimate if a person wants to interact with the robot; and, finally, a navigation system that uses a potential field to derive motion that respects the person's social zones and perceived interest in interaction. The operation of the system is evaluated in a controlled scenario in an open hall environment. It is demonstrated that the robot is able to learn to estimate if a person wishes to interact, and that the system is capable of adapting to changing behaviours of the humans in the environment.
