Autonomous Social Robot Navigation using a Behavioral Finite State Social Machine

摘要

We present a robot navigation system based on Behavioral Finite State Social Machine. The paper makes a robot operate as a social tour guide that adapts its navigation based on the behavior of the visitors. The problem of a robot leading a human group with a limited field-of-view vision is relatively untouched in the literature. Uncertainties arise when the visitors are not visible, wherein the behavior of the robot is adapted as a social response. Artificial potential field is used for local planning, and a velocity manager sets the speed disproportional to time duration of missing visitors.