Social Hybrid Reciprocal Velocity Obstacle-Based Socially Aware Mobile Robot Navigation Framework

In this paper, we propose a social hybrid reciprocal velocity obstacle (SHRVO)-based navigation framework which allows a mobile robot to avoid safely and socially humans or groups of humans in dynamic social environments. The integration of social behaviors, including passing to the right of humans or human groups and selecting the left to overtake, into the original hybrid reciprocal velocity obstacle algorithm is the key idea of our proposed framework. The developed frame work is evaluated by conducting a sequence of experiments in simulation environment. The experimental results have demonstrated the success of the proposed framework in safely navigating a mobile robot in dynamic social environment while still adhering to the social manners. © 2021, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.