Trajectory Planning Based on Time-space Network for THz Sensor-Equipped Robots for Security Screening in Dynamic Crowded Environments

Abstract

This paper proposes an algorithm to maximize the number of inspections conducted by a robot equipped with a THz sensor in dynamically crowded environments for security screening purposes. This algorithm represents the movement of robots and individuals using time-space networks and solves the shortest path problem using Dijkstra’s algorithm to maximize the number of inspections. The effect of pedestrians’ route changes simulated by the social force model was verified through simulations, revealing a decrease of approximately 6%. Additionally, an algorithm considering pedestrians’ route changes was proposed, and simulation results demonstrated that the proposed algorithm could inspect approximately 6% more pedestrians.