Human Aware Navigation Based on Human Attention Estimation

Abstract

With the development of technology, opportunities for humans and autonomous mobile robots to coexist in various forms are increasing regardless of the fields. Under these circumstances, needs to improve the comfort of coexisting with autonomous mobile robots arise. However, conventional autonomous navigation that do not recognize humans include elements that are uncomfortable for humans. In this study, I propose an autonomous navigation that recognizes human position and attention to remove such elements. Furthermore, we experimentally evaluated whether the proposed method improved comfort compared to a conventional method. The result of these experiments, proved that the proposed method is more comfortable for humans.