計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
論文
動的環境下における歩行者流を利用した移動ロボットナビゲーション
熊原 渉増山 岳人田村 雄介山下 淳淺間 一
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2014 年 50 巻 1 号 p. 58-67

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This paper proposes a new navigation method that makes a mobile robot move in dynamic unknown environments. Past dynamic motion planning methods are applied to low pedestrian density. If the robot is surrounded by a lot of pedestrians, it becomes difficult that the robot breaks away from the crowd. To overcome this problem, we introduce a new potential field method that makes the robot follow and avoid pedestrians without map information. The robot can move smoothly by joining a pedestrian flow that is headed in a leading vector. The leading vector indicates about the direction of the destination. In addition, the leading vector is updated by local path information, such as an informatory sign in a station, and pedestrians. Simulation results show the effectiveness of the proposed method.

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© 2014 公益社団法人 計測自動制御学会
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