服务机器人社会意识导航方法综述

Review of Socially-Aware Navigation Methods of Service Robots

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。

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.