Transactions of the JSME (in Japanese)
Online ISSN : 2187-9761
ISSN-L : 2187-9761
Dynamics & Control, Robotics & Mechatronics
Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation
Naoki IBEGakuto MASUYAMAAtsushi YAMASHITAHajime ASAMA
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2015 Volume 81 Issue 821 Pages 14-00330

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Abstract
In daily life, there are many bottlenecks such as narrow passages, gaps between objects and entrances to rooms. At the bottlenecks, some deadlocks must occur so that mobile robots cannot move to their goals safely and efficiently. In order to solve this problem, it is necessary for robots working in daily life to give way to the others as humans do. The purpose of this research is to propose a new model for the mobile robot navigation in which the pedestrian intention is modeled with the probabilistic approach and show how important the give-way behavior is for the mobile robot navigation. In this research, we extend the Social Force Model with the intention vector to represent the intention change of the pedestrian and develop a new method to estimate others' intention. By modeling the pedestrian intention with probabilistic appoach, the proposed model solve the deadlocks at the bottleneck and realize the safe and efficient move of mobile robots.
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© 2015 The Japan Society of Mechanical Engineers
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