SFGMを用いた移動ロボットによる屋内案内行動の生成

抄録

Under an unknown environment, guidance toward a destination is needed by a lot of people. These days, robotic human guidance is one of the promising applications of mobile robots. It is required to avoid collisions with obstacles and to correctly have positional awareness for target people who are guided by the robot as well. There have already been some related works in regard to robotic navigation and guidance. In this paper, we develop a robot control method for guiding a person using SFGM (Social Force Guiding Model), an extension of SFM (Social Force Model). Then we implemented a guide robot and evaluated its performance in an indoor environment.