Person-following based on social navigation into the sensorized environments

Julio C. Montesdeoca; Marcos Toibero; Ricardo Carelli

doi:10.1109/ROBIO.2017.8324515

Person-following based on social navigation into the sensorized environments

Julio C. Montesdeoca, Marcos Toibero, Ricardo Carelli

Universidad Politécnica Salesiana

Research output: Contribution to conference › Paper

4 Scopus citations

Abstract

This paper presents the design of a kinematic controller for autonomous person-following based on social navigation for human-robot interaction purposes. This controller modifies the length of personal space using the human velocity in order to allow the human user senses a natural movement by mobile robot. In this way, the social behavior is incorporated into the controller, allowing a social navigation of differential drive mobile robot (DDMR) in shared environments in both cases, sensorized environments or humans users that wear an inertial movement unit (IMU) in order to track the position. The stability proof of closed-loop control system is based on Lyapunov theory. Simulations show a good performance when human user moves forwards backwards, and also through an arbitrary path.

Original language	English
Pages	1-5
Number of pages	5
DOIs	https://doi.org/10.1109/ROBIO.2017.8324515
State	Published - 23 Mar 2018
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Duration: 23 Mar 2018 → …

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Conference	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Period	23/03/18 → …

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10.1109/ROBIO.2017.8324515

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Person-following based on social navigation into the sensorized environments

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