Human-oriented navigation for service providing in home environment

In this paper we proposed a novel navigation scheme and apply it to the home environment. Robot navigation in the presence of human is highly focused in the field of robotics these days. While the robot maneuvering in crowded space, like home and office environments, we should not only consider collision avoidance but also pay attention to human feelings. In order to deal with this issue, we present a Comfort Space concept to ensure that robot will avoid intruding the area that might disturb human beings. Based on this model, we propose a human-oriented navigation system so that human and robots can coexist in the same environment more harmoniously. On the other hand, it is quite important for a service robot to come autonomously when a person makes a request. Therefore, we present a Come-To-Me system which request the robot to reach human and provide services even the robot is at another place.