Robot Comfort Following based on Extended Social Force Model in Dynamic Environment
2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)(2019)
摘要
Following a person in dynamic environments is one of the hotspots of service robot research. The traditional following model can't meet the requirements of human-robot integration. The new service robot not only has to complete the following tasks but need to consider human body safety and psychological comfort. In this paper, we propose an extended social force model for comfortable follow-up, which is a variant of the social force model based on collision prediction. Our work is tested in a simulation environment, and the results show that the proposed model can effectively consider the comfort of human and pedestrian while following human.
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关键词
human-robot interaction,extended social force model,comfortable following
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