Research Article
Social Hybrid Reciprocal Velocity Obstacle-Based Socially Aware Mobile Robot Navigation Framework
@INPROCEEDINGS{10.1007/978-3-030-77424-0_25, author={Duy Thao Nguyen and Van Bay Hoang and Trong Nghia Le and Tran Hiep Nguyen and Xuan Tung Truong}, title={Social Hybrid Reciprocal Velocity Obstacle-Based Socially Aware Mobile Robot Navigation Framework}, proceedings={Industrial Networks and Intelligent Systems. 7th EAI International Conference, INISCOM 2021, Hanoi, Vietnam, April 22-23, 2021, Proceedings}, proceedings_a={INISCOM}, year={2021}, month={5}, keywords={Socially aware robot navigation Cooperative navigation Motion planning Collision avoidance}, doi={10.1007/978-3-030-77424-0_25} }- Duy Thao Nguyen
Van Bay Hoang
Trong Nghia Le
Tran Hiep Nguyen
Xuan Tung Truong
Year: 2021
Social Hybrid Reciprocal Velocity Obstacle-Based Socially Aware Mobile Robot Navigation Framework
INISCOM
Springer
DOI: 10.1007/978-3-030-77424-0_25
Abstract
In this paper, we propose a social hybrid reciprocal velocity obstacle (SHRVO)-based navigation framework which allows a mobile robot to avoid safely and socially humans or groups of humans in dynamic social environments. The integration of social behaviors, including passing to the right of humans or human groups and selecting the left to overtake, into the original hybrid reciprocal velocity obstacle algorithm is the key idea of our proposed framework. The developed frame work is evaluated by conducting a sequence of experiments in simulation environment. The experimental results have demonstrated the success of the proposed framework in safely navigating a mobile robot in dynamic social environment while still adhering to the social manners.
