Analysis of navigational habituation

Yoichi Morales, Jamilah Abdur-Rahim, Atsushi Watanabe, Jani Even

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

This paper presents a model of navigational habituation for human passengers riding an autonomous robotic wheelchair. We present an example on how robot technology is utilized to understand human behavior which is useful to build human-like navigation models. The work consists of three parts, data collection from manual driving participants, habituation modeling and autonomous navigation experimentation. Manual driving data collection consisted of recording human driving control behavior using a robotic wheelchair in a complex labyrinth-like environment, while measuring physiological activity and emotional state via subjective reports (questionnaires). The purpose of this first part was to collect a sufficient representation of the evolution of human driving behavior in a complex environment (23 participants), such that a numerical model could be found to approximate the trend in velocity usage; velocity usage characterizes navigational habituation. The complex environment habituation model was tested and evaluated, on a different set of 16 participants, in a fully autonomous navigation setting where the robotic wheelchair followed a pre-recorded path. Self-reports and physiological measures confirmed that the proposed habitation velocity regulation model provides a more comfortable ride compared to slow and fast pre-defined static velocity profiles.

本文言語English
ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3056-3062
ページ数7
ISBN(電子版)9781538626825
DOI
出版ステータスPublished - 2017 12月 13
イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
継続期間: 2017 9月 242017 9月 28

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2017-September
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
国/地域Canada
CityVancouver
Period17/9/2417/9/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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