Waypoint based path planner for socially aware robot navigation

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dc.authoridKose, Hatice/0000-0003-4796-4766
dc.authoridKivrak, Hasan/0000-0002-3782-309X
dc.authoridCakmak, Furkan/0000-0001-5232-7919
dc.contributor.authorKivrak, Hasan
dc.contributor.authorCakmak, Furkan
dc.contributor.authorKose, Hatice
dc.contributor.authorYavuz, Sirma
dc.date.accessioned2024-09-29T15:51:13Z
dc.date.available2024-09-29T15:51:13Z
dc.date.issued2022
dc.departmentKarabük Üniversitesien_US
dc.description.abstractSocial navigation is beneficial for mobile robots in human inhabited areas. In this paper, we focus on smooth path tracking and handling disruptions during plan execution in social navigation. We extended the social force model (SFM)-based local planner to achieve smooth and effective social path following. The SFM-based local motion planner is used with the A* global planner, to avoid getting stuck in local minima, while incorporating social zones for human comfort. It is aimed at providing smooth path following and reducing the number of unnecessary re-plannings in evolving situations and a waypoint selection algorithm is proposed. The whole plan is not directly assigned to the robot since the global path has too many grid nodes and it is not possible to follow the path easily in such a dynamic and uncertain environment inhabitated by humans. Therefore, the extracted waypoints by the proposed waypoint selection algorithm are incrementally sent to the robot for smooth and legible robot navigation behavior. A corridor like scenario is tested in a simulated environment for the evaluation of the system and the results demonstrated that the proposed method can create paths that respect people's social space while also eliminating unnecessary replanning and providing that plans are carried out smoothly. The study presented an improvement in the number of replannings, path execution time, path length, and path smoothness of 90.4%, 53.7%, 8.3%, 55, 2%, respectively.en_US
dc.description.sponsorshipTurkish Scientific and Technical Research Council (TUBITAK) [118E214, 118E215]en_US
dc.description.sponsorshipThis research is supported by the Turkish Scientific and Technical Research Council (TUBITAK), partially by Project Nos. 118E214 and 118E215.en_US
dc.identifier.doi10.1007/s10586-021-03479-x
dc.identifier.endpage1675en_US
dc.identifier.issn1386-7857
dc.identifier.issn1573-7543
dc.identifier.issue3en_US
dc.identifier.scopus2-s2.0-85122682804en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage1665en_US
dc.identifier.urihttps://doi.org/10.1007/s10586-021-03479-x
dc.identifier.urihttps://hdl.handle.net/20.500.14619/3931
dc.identifier.volume25en_US
dc.identifier.wosWOS:000740408100002en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofCluster Computing-The Journal of Networks Software Tools and Applicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectSocial navigationen_US
dc.subjectMobile robotsen_US
dc.subjectHuman-robot interactionen_US
dc.subjectPath planningen_US
dc.titleWaypoint based path planner for socially aware robot navigationen_US
dc.typeArticleen_US

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