Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Autonomous robots which move in dynamic environment are required to move to destinations not to hinder the progress of surrounding pedestrians. Previous papers proposed collision avoidance methods based on the position and velocity of pedestrians in the vicinity. However, in a crowded environment, the movement of a robot may affect other pedestrians, or the movement of a pedestrian facing the robot may affect other pedestrians. In addition, by the robot following pedestrians heading in the same direction as the robot, the robot and the surrounding pedestrians can move smoothly. Therefore, in this paper, we propose a harmonious motion strategy that considers the effect of the robot on surrounding pedestrians and the effect of those pedestrians on other pedestrians. The robot determines the avoidance or following action based on the traveling direction of the surrounding pedestrians.
