Human Partner and Robot Guide Coordination System Under Social Force Model Framework Using Kinect Sensor

A robot guide is a robot that is used to guide users from a place of origin to their destination. During carrying out the guiding task, the robot must ensure that the user always follows wherever the direction is headed by the robot until it reaches the destination location. To get this certainty, one of the things that must be considered is the direction the user must walk in the direction of the robot's movement. In this paper, we built a system to monitor user awareness levels to coordinate with robots. We use RGB-D data from the Kinect sensor to detect target partners, their position, and orientation. The level of awareness is calculated using the Social Force Model (SFM) based on the target partner's position and body orientation parameters. This level of awareness will be used by the robot to evaluate the appropriate actions according to the target partner's activities. Based on the results of experiments, the level of awareness of target partners can be calculated and transformed in the form of attractive or repulsive forces towards robots.