An Approach to Social Navigation Algorithm of an Autonomous Robot
8th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, ICHORA 2026, Ankara, Türkiye, 21 - 23 Mayıs 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/ichora69329.2026.11537129
- Basıldığı Şehir: Ankara
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: human-robot interaction, mobile robotics, obstacle avoidance, path planning, ROS, social navigation, social robotics
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
In today's conditions, with the inclusion of robots in normal life and the advancement of technology, planning the behavior of robots in the environment has become an important task. Social navigation, which aims to ensure that robots and humans are together in a social environment and that this environment is safe and comfortable, has become an area where both engineering and social sciences work together. With this field, it is aimed to plan the movements of robots in their environment and to improve these plans day by day. In this study, social navigation on a robot was implemented and evaluated based on low-cost camera and laser data in a controlled experimental environment. By combining data from both the camera and the laser, human detection and tracking is ensured. In addition, people's fear levels were examined, and the social navigation process was replanned according to the fear levels of the tested people. Briefly, in this study, the difference between social and non-social navigation for robots is emphasized with experiments and data. In future studies, it is planned to make social navigation even more usable with hardware support. At the same time, it is aimed to carry out studies in which the environment detection is made automatically, and the robot behaviors are planned according to this detection.