Robotic Etiquette:Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learning and Prediction

作     者：Kun Qian,Xudong Ma,Xianzhong Dai,Fang Fang Key Lab of Measurement and Control of Complex Systems of Engineering (Ministry of Education,China), Southeast University,Nanjing 210096,P.R.China 

作者机构：[a] Key Lab of Measurement Control of Complex Systems of Engineering (Ministry of Education China) Southeast University Nanjing 210096 P. R. China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2010年第7卷第2期

页      面：150-160页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the National High Technology Research and Development Program(863 Program)of China(Grant No.2006AA040202 and No.2007AA041703) the National Natural Science Foundation of China(Grant No.60805032) 

主　　题：robotic etiquette navigation human motion prediction human-robot interaction service robot 

摘      要：Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions *** this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic *** on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational *** human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading *** simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.