Abstract
In real world scenarios for mobile robots, socially acceptable navigation is a key component to interact naturally with other persons. On the one hand this enables a robot to behave more human-like, and on the other hand it increases the acceptance of the user towards the robot as an interaction partner. As part of this research field, we present in this paper a strategy of approaching a person in a socially acceptable manner. Therefore, we use the theory of “personal space” and present a method of modeling this space to enable a mobile robot to approach a person from the front. We use a standard Dynamic Window Approach to control the robot motion and, since the personal space model could not be used directly, a Fast Marching planner is used to plan an optimal path to approach the person. Additionally, we give a proof of concept with first preliminary experiments.
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Kessler, J., Schroeter, C., Gross, HM. (2011). Approaching a Person in a Socially Acceptable Manner Using a Fast Marching Planner. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_36
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DOI: https://doi.org/10.1007/978-3-642-25489-5_36
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