A membrane computing framework for social navigation in robotics

A mobile robot acting in a human environment should follow social conventions, keeping safety distances and navigating at moderate speeds, order to respect people its surroundings avoid obstacles real-time. The problem is more complex differential-drive wheeled robots, with trajectories constrained by nonholonomic kinematics restrictions. It an NP-hard widely studied the literature, combining disciplines such as Psychology, Mathematics, Computer Science Engineering. In this work, we propose novel solution based on Membrane Computing, Social Force Model Dynamic Window Approach Algorithm. resulting model able compute, logarithmic time, best motion command for robot, given current state, considering surrounding obstacles. compatible other membrane computing models robotics suitable implementation parallel hardware. Finally, visual simulator was implemented ROS C++ validation testing.