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Revista Politécnica

versão On-line ISSN 2477-8990versão impressa ISSN 1390-0129


HERRERA, Daniel et al. Cognitive social zones for improving the pedestrian collision avoidance with mobile robots. Rev Politéc. (Quito) [online]. 2019, vol.42, n.2, pp.7-14. ISSN 2477-8990.

Social behaviors are crucial to improve the acceptance of a robot in human-shared environments. One of the most important social cues is undoubtedly the social space. This human mechanism acts like a repulsive field to guarantee comfortable interactions. Its modeling has been widely studied in social robotics, but its experimental inference has been weakly mentioned. Thereby, this paper proposes a novel algorithm to infer the dimensions of an elliptical social zone from a points-cloud around the robot. The approach consists of identifying how the humans avoid a robot during navigation in shared scenarios, and later use this experience to represent humans obstacles like elliptical potential fields with the previously identified dimensions. Thus, the algorithm starts with a first-learning stage where the robot navigates without avoiding humans, i.e. the humans are in charge of avoiding the robots while developing their tasks. During this period, the robot generates a points-cloud with 2D laser measures from its own framework to define the human-presence zones around itself but prioritizing its closest surroundings. Later, the inferred social zone is incorporated to a null-space-based (NSB) control for a non-holonomic mobile robot, which consists of both trajectory tracking and pedestrian collision avoidance. Finally, the performance of the learning algorithm and the motion control is verified through experimentation.

Palavras-chave : Human-robot interaction; control of mobile robots; robot cognition; social robots; social zones; proxemics..

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