2015 年 81 巻 821 号 p. 14-00330
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.
