Human-aware robot navigation is the key to facilitate the deployment of mobile robots into human–robot shared environments. Although many efforts have been made in this regard, almost all of the existing works focus on the constraints such as user comfort and social rules, while ignoring to consider user preferences. And it is expected that the mobile robot is able to navigate in the user-desired areas according to user preferences, e.g., navigating at low speed in the bedroom. To this end, this paper studies the problem of allowing users to control the robot’s working areas to ensure robot aware navigation based on their preferences. To address the intrusiveness of additional facilities or devices to users, we propose a non-intrusive solution by deploying the virtual areas that are non-physical areas but are respected by the mobile robot while performing navigation tasks. Farther, an interactive interface is developed to support the common (non-expert) users to flexibly define the desired areas and specify the navigation behavior of the robot according to their preferences. The proposed solution is fully evaluated through extensive experiments. Experimental results are presented to demonstrate the validity of our approach, and show that the mobile robot can change its navigation behavior in user-defined areas according to user preferences. Supplementary video can be available at https://youtu.be/oXtbNavLmMk.

感知人的机器人导航是促进将移动机器人部署到人机共享环境中的关键。尽管已经在这方面做出了许多努力，但是几乎所有现有的工作都集中在诸如用户舒适度和社交规则之类的约束上，而忽略了考虑用户的偏好。并且期望移动机器人能够根据用户偏好在用户期望的区域中导航，例如，在卧室中以低速导航。为此，本文研究了允许用户控制机器人的工作区域以确保基于其偏好的机器人感知导航的问题。为了解决其他设施或设备对用户的侵扰，我们通过部署虚拟区域（非物理区域，但在执行导航任务时受到移动机器人的尊重）来提出一种非侵入式解决方案。此外，开发了一个交互式界面来支持普通（非专家）用户灵活地定义所需区域并根据他们的偏好指定机器人的导航行为。通过广泛的实验对提出的解决方案进行了全面评估。实验结果表明该方法的有效性，并表明该移动机器人可以根据用户的喜好在用户定义的区域内更改其导航行为。可以从https://youtu.be/oXtbNavLmMk获得补充视频。开发了一个交互式界面来支持普通（非专家）用户灵活地定义所需区域并根据他们的偏好指定机器人的导航行为。通过广泛的实验对提出的解决方案进行了全面评估。实验结果表明该方法的有效性，并表明该移动机器人可以根据用户的喜好在用户定义的区域内更改其导航行为。可以从https://youtu.be/oXtbNavLmMk获得补充视频。开发了一个交互式界面来支持普通（非专家）用户灵活地定义所需区域并根据他们的偏好指定机器人的导航行为。通过广泛的实验对提出的解决方案进行了全面评估。实验结果表明该方法的有效性，并表明该移动机器人可以根据用户的喜好在用户定义的区域内更改其导航行为。可以从https://youtu.be/oXtbNavLmMk获得补充视频。并表明移动机器人可以根据用户的喜好在用户定义的区域中更改其导航行为。可以从https://youtu.be/oXtbNavLmMk获得补充视频。并表明移动机器人可以根据用户的喜好在用户定义的区域中更改其导航行为。可以从https://youtu.be/oXtbNavLmMk获得补充视频。