1A2-D16 人間共存環境におけるロボットからの歩行者意図の推定

抄録

In human-robot coexisting environment, both human and robot are required to estimate each other's intention and act based on the estimation. In this study, we aim at realization of active estimation by a robot. In this paper, we propose a method to estimate pedestrian intention based on the social force model. In the model, a pedestrian moves according to resultant force of four forces, attraction of a goal, repulsion from others, repulsion from barriers, and attraction of interested objects. A robot measures own / pedestrian's position and applies them to the social force model to estimate the direction of goal.