Inducible Social Force Modelを用いた複数人移動予測に基づく混雑環境下でのロボットの接近・接触移動

抄録

In order to enable autonomous mobile robots to move in human-crowded environments, active inducement including using voice and light contact can be one of effective solutions. However, to ensure safety and effectiveness, the robots must predict how the crowds will behave according to the robot approach as well as among humans forming crowds. In this study, we thus develop a navigation system that predicts multiple human movement based on inducible social force model (i-SFM), which enables the robots to select proximal paths with active inducement including human contacts, and determines the path by considering the movement efficiency of both robot and humans. Experimental results indicated that the proposed method could predict the movement of the human crowds and improve movement efficiency, compared with conventional method.