A social planning and navigation for tour-guide robot in human environment

摘要

The biggest challenges in modern robotics is service robots, which are able to execute many tasks for humans in their presence. This perspective naturally causes the problem of social navigation of mobile robots as well as human-robot interaction. In this article, we present the implementation of a navigation method on a mobile robot in indoor environment; we detail the algorithm and the implementation of human-robot interaction social rules. The principle is to define a goal for the robot, which plans a path that drives it to its goal, choosing the shortest, the smoothest, and the safety way, avoiding socially the dynamic obstacles. For this purpose, the robot uses a laser sensor for building environments maps, localization, and detection of new obstacles, and an RGB-D camera (Kinect sensor) for social avoidance.