TY - JOUR
T1 - Person-Following Controller with Socially Acceptable Robot Motion
AU - Montesdeoca, Julio
AU - Toibero, J. Marcos
AU - Jordan, Julian
AU - Zell, Andreas
AU - Carelli, Ricardo
N1 - Publisher Copyright:
© 2022 Elsevier B.V.
PY - 2022/7
Y1 - 2022/7
N2 - This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera's field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion.
AB - This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera's field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion.
KW - Human–robot interactive communication
KW - Human–robot social interaction
KW - Motion human-aware robot navigation
KW - Person-following control
KW - Socially acceptable robot motion
UR - http://www.scopus.com/inward/record.url?scp=85127194926&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2022.104075
DO - 10.1016/j.robot.2022.104075
M3 - Article
AN - SCOPUS:85127194926
SN - 0921-8890
VL - 153
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
M1 - 104075
ER -