Social Navigation in a Cognitive Architecture Using Dynamic Proxemic Zones
1
Intelligent Robotics Lab, Rey Juan Carlos University, Campus de Fuenlabrada, Camino del Molino s/n, 28943 Fuenlabrada, Spain
2
Robotics Group, University of León, Campus de Vegazana, s/n, 24071 León, Spain
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Sensors 2019, 19(23), 5189; https://doi.org/10.3390/s19235189
Received: 18 October 2019
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Revised: 22 November 2019
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Accepted: 25 November 2019
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Published: 27 November 2019
(This article belongs to the Special Issue Mobile Robot Navigation)
Robots have begun to populate the everyday environments of human beings. These social robots must perform their tasks without disturbing the people with whom they share their environment. This paper proposes a navigation algorithm for robots that is acceptable to people. Robots will detect the personal areas of humans, to carry out their tasks, generating navigation routes that have less impact on human activities. The main novelty of this work is that the robot will perceive the moods of people to adjust the size of proxemic areas. This work will contribute to making the presence of robots in human-populated environments more acceptable. As a result, we have integrated this approach into a cognitive architecture designed to perform tasks in human-populated environments. The paper provides quantitative experimental results in two scenarios: controlled, including social navigation metrics in comparison with a traditional navigation method, and non-controlled, in robotic competitions where different studies of social robotics are measured.
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Keywords:
proxemics; social navigation; social robotics; mobile robots
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MDPI and ACS Style
Ginés, J.; Martín, F.; Vargas, D.; Rodríguez, F.J.; Matellán, V. Social Navigation in a Cognitive Architecture Using Dynamic Proxemic Zones. Sensors 2019, 19, 5189. https://doi.org/10.3390/s19235189
AMA Style
Ginés J, Martín F, Vargas D, Rodríguez FJ, Matellán V. Social Navigation in a Cognitive Architecture Using Dynamic Proxemic Zones. Sensors. 2019; 19(23):5189. https://doi.org/10.3390/s19235189
Chicago/Turabian StyleGinés, Jonatan, Francisco Martín, David Vargas, Francisco J. Rodríguez, and Vicente Matellán. 2019. "Social Navigation in a Cognitive Architecture Using Dynamic Proxemic Zones" Sensors 19, no. 23: 5189. https://doi.org/10.3390/s19235189
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