人の衝突回避行動の予測を含んだエスコートロボットの協調経路計画法

抄録

An escort robot has been proposed to perform with human users cooperatively by observing implicit cues such as eye movement. It is necessary for such robots to plan the path in which the robot does not collide with the escorting person. In this research, we focus on the scenario when the robot moves along a person in challenging environment. This paper proposes a cooperative safe path planning method to establish the robot behavior that avoids colliding with the human by predicting the human’s cooperative behavior. The proposed coordinated behavior is computed based on the iterative route planning taking the human behavior into account. The verification by numerical simulation showed that the proposed method generated safer and more efficient routes than the conventional method.