混雑通路で一定距離を保ちつつ歩行者流に沿う走行手法の開発と評価

抄録

The objective of this research is to develop an autonomous driving technology that can follow the flow of a crowd in a crowded corridor while maintaining a distance from the pedestrians. We have achieved this by applying a modified version of the Lennard-Jones potential method to pedestrians, and by following pedestrians moving in the direction of the robot's destination while maintaining a distance to avoid causing discomfort to the pedestrians. In this paper, we describe an improvement of the Lennard-Jones potential method. Some parameters are changed according to the nature of the pedestrian. In order to validate the proposed method, simulations are conducted to evaluate and compare the results.