# Social and Robust Navigation for Indoor Robots Based on Object Semantic Grid and Topological Map
## Appendix A  
```
Data: voice instruction: V; semantic topological map STM; object semantic grid map: OSGM; Result: GoalCoordinate;
1: Home goal, object goal, location goal \(\leftarrow\) speech recognition and word segmentation (V). 2: Home lists \(\leftarrow\) read from STM. 3: Object lists, AffordanceSpace, NonaffordanceSpace \(\leftarrow\) read from OSGM. 4: if(Home goal \(\in\) Home lists && object goal \(\in\) object lists) //concept query
5: if(location goal = front)
6: GoalCoordinate.point \(\leftarrow\) select illegal point from AffordanceSpace. 7: GoalCoordinate. orientation \(\leftarrow\) direction to object. 8: else if(location goal = side)
9: GoalCoordinate.point \(\leftarrow\) select illegal point from NonaffordanceSpace. 10: GoalCoordinate. orientation \(\leftarrow\) direction to object. 11: endif
12: endif
```  
**Algorithm A1**Automatic selection of navigation goal  
```
Data: Coordinates of the door endpoint: {E; E; E; Pair of topological area: {Room}; Room\({}_{2}\)} distance: Ad. Result: ANPs: A\({}_{1}\) and A\({}_{2}\)
1: O \(\leftarrow\) (E\({}_{1}\) + E\({}_{2}\))/2
2: Line \(\leftarrow\) E\({}_{1}\) x E\({}_{2}\) //line passing through E\({}_{1}\), E\({}_{2}\)
3: d \(\leftarrow\) [1, line(1)/line(0)] //perpendicular line's director vector
4: A\({}_{1}\)position \(\leftarrow\) O + \(\Delta\)d \(\cdot\) d
5: A\({}_{1}\)position \(\leftarrow\) [room\({}_{1}\), room\({}_{2}\)]
6: A\({}_{2}\)position \(\leftarrow\) O\(\cdot\)d \(\cdot\) d
7: A\({}_{2}\)position \(\leftarrow\) [room\({}_{2}\), room\({}_{1}\)]
```  
**Algorithm A2**Generation of ANPs  
``` Data: Sequence of ANPs: ANPs; Topological map: TM; Goal point; Start point. Result: Navigation goal sequence: Goals. 1: RoomStart \(\leftarrow\) topological area where Start point exists in the TM. 2: RoomEnd \(\leftarrow\) topological area where Goal point exists in the TM. 3: Topological Path \(\leftarrow\) topological path planning from RoomStart to RoomEnd. 4: Room Sequence \(\leftarrow\) all rooms in sequence from Topological Path. 5: Goals \(\leftarrow\) all auxiliary navigation points according to Rome Sequence. 6: Goals \(\leftarrow\) Goal point. ## References

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