Robots have begun to populate the everyday environments of human beings. These social robots must perform their tasks without disturbing the people with whom they share their environment. This paper proposes a navigation algorithm for robots that is acceptable to people. Robots will detect the personal areas of humans, to carry out their tasks, generating navigation routes that have less impact on human activities. The main novelty of this work is that the robot will perceive the moods of people to adjust the size of proxemic areas. This work will contribute to making the presence of robots in human-populated environments more acceptable. As a result, we have integrated this approach into a cognitive architecture designed to perform tasks in human-populated environments. The paper provides quantitative experimental results in two scenarios: controlled, including social navigation metrics in comparison with a traditional navigation method, and non-controlled, in robotic competitions where different studies of social robotics are measured.