TY - GEN
T1 - Social navigation model based on human intention analysis using face orientation
AU - Ratsamee, Photchara
AU - Mae, Yasushi
AU - Ohara, Kenichi
AU - Kojima, Masaru
AU - Arai, Tatsuo
PY - 2013
Y1 - 2013
N2 - We propose a social navigation model that allows a robot to navigate in a human environment according to human intentions, in particular during a situation where the human encounters a robot and he/she wants to avoid, unavoid (maintain his/her course), or approach the robot. Avoiding, unavoiding, and approaching trajectories of humans are classified based on the face orientation on a social force model and their predicted motion. The proposed model is developed based on human motion and behavior (especially face orientation and overlapping personal space) analysis in preliminary experiments. Our experimental evidence demonstrates that the robot is able to adapt its motion by preserving personal distance from passers-by, and approaching persons who want to interact with the robot. This work contributes to the future development of a human-robot socialization environment.
AB - We propose a social navigation model that allows a robot to navigate in a human environment according to human intentions, in particular during a situation where the human encounters a robot and he/she wants to avoid, unavoid (maintain his/her course), or approach the robot. Avoiding, unavoiding, and approaching trajectories of humans are classified based on the face orientation on a social force model and their predicted motion. The proposed model is developed based on human motion and behavior (especially face orientation and overlapping personal space) analysis in preliminary experiments. Our experimental evidence demonstrates that the robot is able to adapt its motion by preserving personal distance from passers-by, and approaching persons who want to interact with the robot. This work contributes to the future development of a human-robot socialization environment.
UR - http://www.scopus.com/inward/record.url?scp=84893729905&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696575
DO - 10.1109/IROS.2013.6696575
M3 - Conference contribution
AN - SCOPUS:84893729905
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1682
EP - 1687
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -