Investigation of Indoor Navigation Based on Proxemics for Mobile Robot Using the Robot Operating System (ROS)

A smart robot is always better at serving the life of humans, especially grounded robots or service robots. In this research, autonomous navigation for mobile robots using the proxemics model is presented in the Robot Operating System (ROS) software. Inspired by theoretical developments, socially comfortable interaction is suggested in order to improve the behaviors of robots in the communal context. Then, the structure of ROS is mentioned to introduce some components and packages. Later, several test scenarios are realized to create the setup of a public place including humans, tables, chairs, and private rooms. Additionally, the physical model of our robot is launched in the virtual environment. To enhance the treatment of robots in social communication, these theories are also implemented into the ROS software. Four experimental validations are accomplished to compare between tests with and without our approach. From these achievements, it could be seen clearly that the proposed method is effective and feasible in social interactions.