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Adaptive control for robot navigation in human environments based on social force model
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posted on 2023-06-09, 09:23 authored by Chen Wang, Yanan LiYanan Li, Shuzhi Sam Ge, Tong Heng LeeIn this paper, we introduce a novel control scheme based on the social force model for robots navigating in human environments. Social proxemics potential field is constructed based on the theory of proxemics and used to generate social interaction force for design of robot motion control. A combined kinematic/dynamic control is proposed to make the robot follow the target social force model, in the presence of kinematic velocity constraints. Under the proposed framework, given a specific social convention, robot is able to generate and modify its path smoothly without violating the proxemics constraints. The validity of the proposed method is verified through experimental studies using the V-rep platform.
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Publication status
- Published
File Version
- Accepted version
External DOI
Page range
5690-5695Presentation Type
- paper
Event name
2016 IEEE International Conference on Robotics and Automation (ICRA)Event location
Stockholm, SwedenEvent type
conferenceEvent date
16-21 MayBook title
2016 IEEE International Conference on Robotics and Automation (ICRA)Department affiliated with
- Engineering and Design Publications
Notes
(c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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