Path Planning in Service Robotics Considering Interaction Based on Augmented Reality
This research presents how augmented reality (AR) can be used for assistance tasks in indoor environments. The approach of AR supported human-robot interaction arises two classical questions in robot navigation: What does the robot need to do to show the AR? (task planning) and, which are the best movements to reach the destination allowing the user to get the AR information? (path planning). In addition, a constraint related to assistance environments has to be considered: How can the robot perform its tasks in order to improve the interaction?. These problems along with how AR can enhance human-robot interaction, and therefore improve the human experience with the robot, are addressed along the paper. The first experiments developed with this system are performed using the gazebo simulator. The solutions proposed are analized using a low cost platform for elderly assistance, which already uses AR for some assistance tasks, developed in Universidad de Len.
KeywordsNavegacin path planning augmented reality AR Human-Robot Interaction
Unable to display preview. Download preview PDF.
- 1.Knapp, M.L., Hall, J.A.: Nonverbal Communication in Human Interaction. Wadsworth, Cengage Learning, Boston, MA (2010)Google Scholar
- 2.Sciutti, A., et al.: Anticipatory gaze in human-robot interactions. In: 7th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2012, Boston, Massachusetts, USA (2012)Google Scholar
- 3.Staudte, M., Crocker, M.W.: The utility of gaze in spoken human-robot interaction. In: Proceedings of the HRI Workshop on Metrics for Human-Robot Interaction (2008)Google Scholar
- 4.Kohlbecher, S., Wiese, E., Bartl, K., Blume, J., Bannat, A., Schneider, E.: Studying Gaze-based Human Robot Interaction: An Experimental Platform. In: 7th ACM/IEEE International Conference on Human-Robot Interaction, Boston, Massachusetts, USA (2012)Google Scholar
- 5.Yoshikawa, Y., Shinozawa, K., Ishiguro, H., Hagita, N., Miyamoto, T.: Responsive robot gaze to interaction partner. In: Proceedings of Robotics: Science and Systems (2006)Google Scholar
- 7.Hall, J., Hall, E.T.: The Hidden Dimension. Anchor Books (1966) ISBN 0-385-08476-5Google Scholar
- 8.Kanda, T.: Toward Integrating Natural-HRI into Spoken Dialog. Fall Symposium Series (2010)Google Scholar
- 9.Rios-Martinez, J., Spalanzani, A., Laugier, C.: Understanding human interaction for probabilistic autonomous navigation using Risk-RRT approach. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, September 25-30 (2011)Google Scholar
- 10.Lam, C.-P., Chou, C.-T., Chiang, K.-H., Fu, L.-C.: Human-centered robot navigation,towards a harmoniously human-robot coexisting environment. IEEE Transactions on Robotics 27(1) (2011)Google Scholar
- 11.Breazeal, C., Kidd, C.D., Thomaz, A.L., Hoffman, G., Berlin, M.: Effects of Nonverbal Communication on Efficiency and Robustness in Human-Robot Teamwork. In: EEE/RSJ International Conference on Intelligent Robots and Systems IROS (2005)Google Scholar
- 12.Brooks, A.G., Breazeal, C.: Working with robots and objects: revisiting deictic reference for achieving spatial common ground. In: Proceedings of the 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction, pp. 297–304. ACM (2006)Google Scholar
- 13.Kruse, T., Kirsch, A., Sisbot, E.A., Alami, R.: Exploiting human cooperation in human-centered robot navigation. In: 2010 IEEE RO-MAN, September 13-15 (2010)Google Scholar