Should I Just Stick to the Wall? Evaluating the Social Acceptance and Preferred Driving Side of Wall Following

Abstract

The need for safe, predictable, and reliable robot navigation is fundamental for mobile robots to move around in home and office environments. Shortest-path navigation is a popular robot navigation method that uses the most efficient path to get to the desired goal. This behaviour is not always easy to interpret, understand, and avoid in a congested hallway. Instead, more predictable navigation methods, such as a robot following a wall, can help increase social acceptance and help avoid the robot crossing the pedestrian path. If a robot follows along a wall, a key variable to consider is the preferred driving side of the robot (left or right) in areas such as in narrow passages, and its perceived impact on social acceptance. This international user study (n = 143) involved an online video-based test to compare robot evaluation and social acceptance for two types of mobile navigation (Wall-Following and Shortest Path), including the preferred driving side for Wall-Following. A Fetch robot navigated from start to goal position in a series of indoor scenarios with a pedestrian. Select scenarios included a hallway, doorway, and intersection. Independent Sample T-Tests results found that Wall-Following was rated significantly higher than Shortest Path for being perceived as more comfortable and predictable, regardless of robot driving side. The preference for the driver side of the robot did not match the country of residence, nor did it have a significant impact on robot ratings. There were significant interaction effects for comfort, safety and predictable scores across two timepoints. Given the popularity of Shortest Path navigation, the findings indicate that this approach might not be the most appropriate for human settings. Additional investigation into Wall-Following behaviours is recommended for social acceptance, even if the method compromises the efficiency of the robot to acheive its objective.