Person-Following Robots With Social Robot Motion From Control Design, Simulation Results

Social Human-Robot Interaction is a research field focused on studying how should be the behavior of a robot when sharing the environment with human users. This way, the socially appropriate motion in mobile robots is an important objective to achieve in control tasks such as autonomous navigation, simultaneous localization and mapping, person-following robot, and so on. Thus, this paper presents some simulation results of our strategies to achieve the socially acceptable robot motion under the task of the person-following robot from the control theory point of view. A differential drive mobile robot with an onboard camera is used to model the task. The simulation results show a good performance when the proposed task is achieved.