Abstract
The paper presents a path planning method for an autonomous mobile robot working in human environment. The traditional planning method uses the map having only static obstacle information. A path generated by that method does not consider environmental rules. For example no trespassing area or one side-way passage. To solve this problem, we propose a path planning method with pedestrian information map. We define pedestrian as human moving to the destination. We generate pedestrian information map using only pedestrian traffic information in all observed human traffic information. Pedestrian information map shows passable areas and the traffic manner on the map. Experimental results showed the effectiveness of the proposed method.
