Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion

Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energ...

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Main Authors:	Silvia Guillén Ruiz, Luis V. Calderita, Alejandro Hidalgo-Paniagua, Juan P. Bandera Rubio
Format:	Article
Language:	English
Published:	MDPI AG 2020-11-01
Series:	Sensors
Subjects:	smoothness path planning energy consumption social navigation multi-objective optimization robotics
Online Access:	https://www.mdpi.com/1424-8220/20/23/6822

id	doaj-27854d80c059487baf2472252bcba37e
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spelling	doaj-27854d80c059487baf2472252bcba37e2020-11-30T00:00:28ZengMDPI AGSensors1424-82202020-11-01206822682210.3390/s20236822Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot MotionSilvia Guillén Ruiz0Luis V. Calderita1Alejandro Hidalgo-Paniagua2Juan P. Bandera Rubio3Department of Electronic Technology, University of Málaga, 29071 Málaga, SpainDepartment of Mechanic Engineering, Computer, and Aerospace Science, University of León, 24007 León, SpainDepartment of Electronic Technology, University of Málaga, 29071 Málaga, SpainDepartment of Electronic Technology, University of Málaga, 29071 Málaga, SpainSocial robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energy consumption or making the robot behave in a socially accepted way. Path planning can be tuned according to a set of factors, being the most common path length, safety, and smoothness. This last factor may have a strong relation with energy consumption and social acceptability of produced motion, but this possible relation has never been deeply studied. The current paper focuses on performing a double analysis through two experiments. One of them analyzes energy consumption in a real robot for trajectories that use different smoothness factors. The other analyzes social acceptance for different smoothness factors by presenting different simulated situations to different people and collecting their impressions. The results of these experiments show that, in general terms, smoother paths decrease energy consumption and increase acceptability, as far as other key factors, such as distance to people, are fulfilled.https://www.mdpi.com/1424-8220/20/23/6822smoothnesspath planningenergy consumptionsocial navigationmulti-objective optimizationrobotics
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Silvia Guillén Ruiz Luis V. Calderita Alejandro Hidalgo-Paniagua Juan P. Bandera Rubio
spellingShingle	Silvia Guillén Ruiz Luis V. Calderita Alejandro Hidalgo-Paniagua Juan P. Bandera Rubio Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion Sensors smoothness path planning energy consumption social navigation multi-objective optimization robotics
author_facet	Silvia Guillén Ruiz Luis V. Calderita Alejandro Hidalgo-Paniagua Juan P. Bandera Rubio
author_sort	Silvia Guillén Ruiz
title	Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_short	Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_full	Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_fullStr	Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_full_unstemmed	Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion
title_sort	measuring smoothness as a factor for efficient and socially accepted robot motion
publisher	MDPI AG
series	Sensors
issn	1424-8220
publishDate	2020-11-01
description	Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to consider other requirements, such as optimizing energy consumption or making the robot behave in a socially accepted way. Path planning can be tuned according to a set of factors, being the most common path length, safety, and smoothness. This last factor may have a strong relation with energy consumption and social acceptability of produced motion, but this possible relation has never been deeply studied. The current paper focuses on performing a double analysis through two experiments. One of them analyzes energy consumption in a real robot for trajectories that use different smoothness factors. The other analyzes social acceptance for different smoothness factors by presenting different simulated situations to different people and collecting their impressions. The results of these experiments show that, in general terms, smoother paths decrease energy consumption and increase acceptability, as far as other key factors, such as distance to people, are fulfilled.
topic	smoothness path planning energy consumption social navigation multi-objective optimization robotics
url	https://www.mdpi.com/1424-8220/20/23/6822
work_keys_str_mv	AT silviaguillenruiz measuringsmoothnessasafactorforefficientandsociallyacceptedrobotmotion AT luisvcalderita measuringsmoothnessasafactorforefficientandsociallyacceptedrobotmotion AT alejandrohidalgopaniagua measuringsmoothnessasafactorforefficientandsociallyacceptedrobotmotion AT juanpbanderarubio measuringsmoothnessasafactorforefficientandsociallyacceptedrobotmotion
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Measuring Smoothness as a Factor for Efficient and Socially Accepted Robot Motion

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