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In this study, we present a socially aware navigation framework for mobile service robots by integrating the systems proposed in our previous studies into a completed mobile robot navigation system, including the human detection and tracking system that is used to detect and track humans; the encoder and laser-based localization and mapping system that is used to determine the position of the robot in the environment; the approaching pose estimation system that is used to estimate the approaching pose of the robot to the human; and the social timed elastic band-based motion planning system that is used to socially navigate the mobile robots to approach the human. In addition, in the paper we describe in detail the motor control system and the design of our mobile robot platform, which is then utilized to conduct experiments in the real-world environments. We verify the feasibility and usefulness of the proposed socially aware robot navigation framework through a series of experiments in a corridor-like environment. The experimental results show that our proposed framework is able to drive the mobile robots to both avoid and approach the humans, providing the safety and comfort for the humans and socially acceptable behaviors for the mobile service robots in the dynamic social environments. |
