A cognitive robotic system for a human-following robot

Chien Van Dang; Heungju Ahn; Hyeon C. Seo; Sang C. Lee

doi:10.3233/FAIA200737

A cognitive robotic system for a human-following robot

Chien Van Dang
, Heungju Ahn
, Hyeon C. Seo
, Sang C. Lee

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper we propose a cognitive robotic system that utilizes computational psychology (the Soar cognitive architecture) and an obstacle avoidance method (modified dynamic window approach) in ROS (Robot Operating System) platform for controlling a mobile robot. This system is applied to perform a task of human-following, aiming to help the robot navigate itself to the target person avoiding collision. A cognitive agent based on Soar cognitive architecture is created to reason its current situation and make decisions on movement direction such as go-straight, turn-left or turn-right, whereas the dynamic window approach is modified to avoid collision by computing appropriate velocities for driving the robot motors. To the end, a part of implementation is presented to describes how the system works.

Original language	English
Title of host publication	Frontiers in Artificial Intelligence and Applications
Editors	Antonio J. Tallon-Ballesteros
Publisher	IOS Press BV
Pages	601-607
Number of pages	7
ISBN (Electronic)	9781643681344
DOIs	https://doi.org/10.3233/FAIA200737
State	Published - 2020
Event	6th International Conference on Fuzzy Systems and Data Mining, FSDM 2020 - Virtual, Online, China Duration: 13 Nov 2020 → 16 Nov 2020

Publication series

Name	Frontiers in Artificial Intelligence and Applications
Volume	331
ISSN (Print)	0922-6389
ISSN (Electronic)	1879-8314

Conference

Conference	6th International Conference on Fuzzy Systems and Data Mining, FSDM 2020
Country/Territory	China
City	Virtual, Online
Period	13/11/20 → 16/11/20

Bibliographical note

Publisher Copyright:
© 2020 The authors and IOS Press.

Keywords

Cognitive robotic system
following mobile robot
obstacle avoidance

Access to Document

10.3233/FAIA200737

Cite this

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title = "A cognitive robotic system for a human-following robot",

abstract = "In this paper we propose a cognitive robotic system that utilizes computational psychology (the Soar cognitive architecture) and an obstacle avoidance method (modified dynamic window approach) in ROS (Robot Operating System) platform for controlling a mobile robot. This system is applied to perform a task of human-following, aiming to help the robot navigate itself to the target person avoiding collision. A cognitive agent based on Soar cognitive architecture is created to reason its current situation and make decisions on movement direction such as go-straight, turn-left or turn-right, whereas the dynamic window approach is modified to avoid collision by computing appropriate velocities for driving the robot motors. To the end, a part of implementation is presented to describes how the system works.",

keywords = "Cognitive robotic system, following mobile robot, obstacle avoidance",

author = "\{Van Dang\}, Chien and Heungju Ahn and Seo, \{Hyeon C.\} and Lee, \{Sang C.\}",

note = "Publisher Copyright: {\textcopyright} 2020 The authors and IOS Press.; 6th International Conference on Fuzzy Systems and Data Mining, FSDM 2020 ; Conference date: 13-11-2020 Through 16-11-2020",

year = "2020",

doi = "10.3233/FAIA200737",

language = "English",

series = "Frontiers in Artificial Intelligence and Applications",

publisher = "IOS Press BV",

pages = "601--607",

editor = "Tallon-Ballesteros, \{Antonio J.\}",

booktitle = "Frontiers in Artificial Intelligence and Applications",

}

Van Dang, C, Ahn, H, Seo, HC & Lee, SC 2020, A cognitive robotic system for a human-following robot. in AJ Tallon-Ballesteros (ed.), Frontiers in Artificial Intelligence and Applications. Frontiers in Artificial Intelligence and Applications, vol. 331, IOS Press BV, pp. 601-607, 6th International Conference on Fuzzy Systems and Data Mining, FSDM 2020, Virtual, Online, China, 13/11/20. https://doi.org/10.3233/FAIA200737

A cognitive robotic system for a human-following robot. / Van Dang, Chien; Ahn, Heungju; Seo, Hyeon C. et al.
Frontiers in Artificial Intelligence and Applications. ed. / Antonio J. Tallon-Ballesteros. IOS Press BV, 2020. p. 601-607 (Frontiers in Artificial Intelligence and Applications; Vol. 331).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A cognitive robotic system for a human-following robot

AU - Van Dang, Chien

AU - Ahn, Heungju

AU - Seo, Hyeon C.

AU - Lee, Sang C.

PY - 2020

Y1 - 2020

N2 - In this paper we propose a cognitive robotic system that utilizes computational psychology (the Soar cognitive architecture) and an obstacle avoidance method (modified dynamic window approach) in ROS (Robot Operating System) platform for controlling a mobile robot. This system is applied to perform a task of human-following, aiming to help the robot navigate itself to the target person avoiding collision. A cognitive agent based on Soar cognitive architecture is created to reason its current situation and make decisions on movement direction such as go-straight, turn-left or turn-right, whereas the dynamic window approach is modified to avoid collision by computing appropriate velocities for driving the robot motors. To the end, a part of implementation is presented to describes how the system works.

AB - In this paper we propose a cognitive robotic system that utilizes computational psychology (the Soar cognitive architecture) and an obstacle avoidance method (modified dynamic window approach) in ROS (Robot Operating System) platform for controlling a mobile robot. This system is applied to perform a task of human-following, aiming to help the robot navigate itself to the target person avoiding collision. A cognitive agent based on Soar cognitive architecture is created to reason its current situation and make decisions on movement direction such as go-straight, turn-left or turn-right, whereas the dynamic window approach is modified to avoid collision by computing appropriate velocities for driving the robot motors. To the end, a part of implementation is presented to describes how the system works.

KW - Cognitive robotic system

KW - following mobile robot

KW - obstacle avoidance

UR - https://www.scopus.com/pages/publications/85101508761

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DO - 10.3233/FAIA200737

M3 - Conference contribution

AN - SCOPUS:85101508761

T3 - Frontiers in Artificial Intelligence and Applications

SP - 601

EP - 607

BT - Frontiers in Artificial Intelligence and Applications

A2 - Tallon-Ballesteros, Antonio J.

PB - IOS Press BV

T2 - 6th International Conference on Fuzzy Systems and Data Mining, FSDM 2020

Y2 - 13 November 2020 through 16 November 2020

ER -

A cognitive robotic system for a human-following robot

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Publication series

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Keywords

Access to Document

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