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A membrane computing framework for social navigation in robotics
Computers & Electrical Engineering ( IF 4.3 ) Pub Date : 2021-09-20 , DOI: 10.1016/j.compeleceng.2021.107408
Ignacio Pérez-Hurtado 1 , David Orellana-Martín 1 , Miguel Á. Martínez-del-Amor 1 , Luis Valencia-Cabrera 1
Affiliation  

A mobile robot acting in a human environment should follow social conventions, keeping safety distances and navigating at moderate speeds, in order to respect people in its surroundings and avoid obstacles in real-time. The problem is more complex in differential-drive wheeled robots, with trajectories constrained by nonholonomic and kinematics restrictions. It is an NP-hard problem widely studied in the literature, combining disciplines such as Psychology, Mathematics, Computer Science and Engineering. In this work, we propose a novel solution based on Membrane Computing, Social Force Model and Dynamic Window Approach Algorithm. The resulting model is able to compute, in logarithmic time, the best motion command for the robot, given its current state, considering the surrounding people and obstacles. The model is compatible with other membrane computing models for robotics and suitable for an implementation on parallel hardware. Finally, a visual simulator was implemented in ROS and C++ for validation and testing.



中文翻译:

用于机器人社会导航的膜计算框架

在人类环境中行动的移动机器人应遵循社会惯例,保持安全距离并以适中的速度导航,以尊重周围的人并实时避开障碍物。这个问题在差动驱动轮式机器人中更为复杂,其轨迹受到非完整和运动学限制。这是一个在文献中广泛研究的 NP 难问题,结合了心理学、数学、计算机科学和工程等学科。在这项工作中,我们提出了一种基于膜计算、社会力模型和动态窗口方法算法的新解决方案。由此产生的模型能够在对数时间内计算机器人的最佳运动命令,考虑到周围的人和障碍物,给定其当前状态。该模型与机器人的其他膜计算模型兼容,适合在并行硬件上实现。最后,在 ROS 和 C++ 中实现了一个可视化模拟器,用于验证和测试。

更新日期:2021-09-20
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