Abstract: For a kind of multi-dimensional service situations, namely cramped and narrowed situations, a motion planning scheme is designed to balance the relation between the mobility efficiency of a mobile robot and its impact on human’s comfort feelings while the robot moving around people. This method describes human’s comfort needs with tension space and uses the deformation degree of human’s tension space under the influence of robot movement to model the relation between robot movement and human’s comfort feelings. Then the motion planning is optimized with robot movement efficiency and human’s comfort feelings. Finally, the effectiveness of the designed method is verified with simulations and the applicability of the research framework for service robots based on multi-dimensional service situations is further embodied with the research of cramped and crowded service situations.