Review of Socially-Aware Navigation Methods of Service Robots

doi:10.3778/j.issn.1002-8331.2202-0039

Abstract

Abstract: To enhance the social acceptability of service robots, the socially-aware navigation with human integration has been a hot area of research field in service robot. This review focuses on the socially-aware navigation methods of service robots. The general framework and main research methods in socially-aware navigation of service robots are described firstly. And then, the details of socially-aware navigation methods, which based on social spatial relationship models（such as social force model and gaussian model）, social behavior learning and pedestrian trajectory prediction, are summarized. Finally, the future development trend of socially-aware navigation methods of service robots is prospected.

Key words: service robot, socially-aware navigation, social interaction space, social behavior learning, pedestrian trajectory prediction

摘要： 为提升服务机器人的社会可接受性，与人共融的社会意识导航一直是服务机器人研究领域的热点之一。重点对服务机器人社会意识导航方法展开综述，概述了服务机器人社会意识导航总体框架及主要研究方法；详细总结了基于社会空间关系模型（包括社会力模型和高斯模型）、基于社会行为学习及基于行人轨迹预测的社会意识导航方法；对服务机器人社会意识导航未来的发展趋势进行了展望。

关键词: 服务机器人, 社会意识导航, 社会交互空间, 社会行为学习, 行人轨迹预测

HE Li, ZHANG Heng, YUAN Liang, LIU Zhening, ZHANG Wenzhi, ZHONG Runhao, ZHANG Shuai. Review of Socially-Aware Navigation Methods of Service Robots[J]. Computer Engineering and Applications, 2022, 58(11): 1-11.

何丽, 张恒, 袁亮, 刘哲凝, 张文智, 钟润豪, 张帅. 服务机器人社会意识导航方法综述[J]. 计算机工程与应用, 2022, 58(11): 1-11.

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