dc.creator | Pérez Hurtado de Mendoza, Ignacio | es |
dc.creator | Orellana Martín, David | es |
dc.creator | Martínez del Amor, Miguel Ángel | es |
dc.creator | Valencia Cabrera, Luis | es |
dc.date.accessioned | 2021-11-22T12:00:14Z | |
dc.date.available | 2021-11-22T12:00:14Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | Pérez Hurtado de Mendoza, I., Orellana Martín, D., Martínez del Amor, M.Á. y Valencia Cabrera, L. (2021). A membrane computing framework for social navigation in robotics. Computers and Electrical Engineering, 95 (October 2021) | |
dc.identifier.issn | 0045-7906 | es |
dc.identifier.uri | https://hdl.handle.net/11441/127598 | |
dc.description.abstract | A mobile robot acting in a human environment should follow social conventions, keeping safety
distances and navigating at moderate speeds, in order to respect people in its surroundings
and avoid obstacles in real-time. The problem is more complex in differential-drive wheeled
robots, with trajectories constrained by nonholonomic and kinematics restrictions. It is an
NP-hard problem widely studied in the literature, combining disciplines such as Psychology,
Mathematics, Computer Science and Engineering. In this work, we propose a novel solution
based on Membrane Computing, Social Force Model and Dynamic Window Approach Algorithm.
The resulting model is able to compute, in logarithmic time, the best motion command for
the robot, given its current state, considering the surrounding people and obstacles. The
model is compatible with other membrane computing models for robotics and suitable for an
implementation on parallel hardware. Finally, a visual simulator was implemented in ROS and
C++ for validation and testing. | es |
dc.description.sponsorship | Agencia Estatal de Investigación TIN2017-89842-P | es |
dc.format | application/pdf | es |
dc.format.extent | 11 | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | Computers and Electrical Engineering, 95 (October 2021) | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Membrane computing | es |
dc.subject | Enzymatic numerical P systems | es |
dc.subject | Robotics | es |
dc.subject | Social force model | es |
dc.subject | Navigation | es |
dc.title | A membrane computing framework for social navigation in robotics | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ciencias de la Computación e Inteligencia Artificial | es |
dc.relation.projectID | TIN2017-89842-P | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0045790621003736 | es |
dc.identifier.doi | 10.1016/j.compeleceng.2021.107408 | es |
dc.contributor.group | Universidad de Sevilla. TIC193 : Computación Natural | es |
dc.journaltitle | Computers and Electrical Engineering | es |
dc.publication.volumen | 95 | es |
dc.publication.issue | October 2021 | es |
dc.contributor.funder | Agencia Estatal de Investigación. España | es |