TY - GEN
T1 - Harmonious Robot Navigation Strategies for Pedestrians
AU - Nakaoka, Shintaro
AU - Yorozu, Ayanori
AU - Takahashi, Masaki
N1 - Funding Information:
Acknowledgments. This work was supported by Core Research for Evolutional Science and Technology (CREST) of the Japan Science and Technology Agency (JST) [grant number JPMJCR19A1].
Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Recently, the demand for service robots that move autonomously in a crowded environment, such as stations, airports, and commercial facilities has increased. Such robots are required to move to a destination without hindering the progress of the surrounding pedestrians. Previous papers proposed collision avoidance methods based on the direction and distance of the destination of the robot, and the position and velocity of pedestrians in the vicinity. However, in a crowded environment, the behavior of a robot may affect other pedestrians, or the behavior of a pedestrian facing the robot may affect other pedestrians. Moreover, considering the motion strategy used by a pedestrian in a crowded environment, the impact on other pedestrians can be reduced by the robot following the pedestrians moving in the direction in which the robot wants to move. This navigation method has not been proposed thus far. Therefore, in this paper, we propose a method that considers the impact of the robot on surrounding pedestrians and the impact of those pedestrians on other pedestrians. The robot determines the avoidance or following action based on the traveling direction of the surrounding pedestrians.
AB - Recently, the demand for service robots that move autonomously in a crowded environment, such as stations, airports, and commercial facilities has increased. Such robots are required to move to a destination without hindering the progress of the surrounding pedestrians. Previous papers proposed collision avoidance methods based on the direction and distance of the destination of the robot, and the position and velocity of pedestrians in the vicinity. However, in a crowded environment, the behavior of a robot may affect other pedestrians, or the behavior of a pedestrian facing the robot may affect other pedestrians. Moreover, considering the motion strategy used by a pedestrian in a crowded environment, the impact on other pedestrians can be reduced by the robot following the pedestrians moving in the direction in which the robot wants to move. This navigation method has not been proposed thus far. Therefore, in this paper, we propose a method that considers the impact of the robot on surrounding pedestrians and the impact of those pedestrians on other pedestrians. The robot determines the avoidance or following action based on the traveling direction of the surrounding pedestrians.
KW - Collision avoidance
KW - Dynamic environment
KW - Social-aware navigation
UR - http://www.scopus.com/inward/record.url?scp=85128707563&partnerID=8YFLogxK
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U2 - 10.1007/978-3-030-95892-3_8
DO - 10.1007/978-3-030-95892-3_8
M3 - Conference contribution
AN - SCOPUS:85128707563
SN - 9783030958916
T3 - Lecture Notes in Networks and Systems
SP - 98
EP - 108
BT - Intelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
A2 - Ang Jr, Marcelo H.
A2 - Asama, Hajime
A2 - Lin, Wei
A2 - Foong, Shaohui
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
Y2 - 22 June 2021 through 25 June 2021
ER -