Evaluation of Controllability of Interaction Between Pedestrian and Autonomous Mobile Robot in Shared Mobility Space

Kentaro Sugiura, Mizuho Aoki, Kazuhide Kuroda, Hiroyuki Okuda, Tatsuya Suzuki

2023

Abstract

Recently, a growing number of autonomous mobile robots (AMR) coexisting with humans are being introduced in many types of AMR-human shared space. Such AMR often needs to be navigated in narrow spaces while smoothly interacting with pedestrians. In such a situation, AMRs are highly recommended to estimate the pedestrian’s intentions and take appropriate action from the viewpoint of social acceptance. First, this paper presents new modeling and understanding of pedestrian behavior, particularly focusing on decision-making when they face an AMR at a close distance. Real-world experiments were conducted using a remote switch to directly record their decisions, and a mathematical decision model is made by using a logistic regression model. In the interaction between AMR and pedestrians, the AMR is expected to ‘implicitly control’ the interacting pedestrian by changing its own action. From this perspective, the influence of the AMR motion on the pedestrian’s decision is formally defined and calculated by using the controllability Gramian of the augmented AMR-pedestrian system model. A deep understanding of the influence of AMR action on pedestrian behavior will be beneficial to develop control policies for smooth AMR-pedestrian interactions.

Paper Citation

in Harvard Style

Sugiura K., Aoki M., Kuroda K., Okuda H. and Suzuki T. (2023). Evaluation of Controllability of Interaction Between Pedestrian and Autonomous Mobile Robot in Shared Mobility Space. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 249-257. DOI: 10.5220/0012177500003543

in Bibtex Style

@conference{icinco23,
author={Kentaro Sugiura and Mizuho Aoki and Kazuhide Kuroda and Hiroyuki Okuda and Tatsuya Suzuki},
title={Evaluation of Controllability of Interaction Between Pedestrian and Autonomous Mobile Robot in Shared Mobility Space},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2023},
pages={249-257},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012177500003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Evaluation of Controllability of Interaction Between Pedestrian and Autonomous Mobile Robot in Shared Mobility Space
SN - 978-989-758-670-5
AU - Sugiura K.
AU - Aoki M.
AU - Kuroda K.
AU - Okuda H.
AU - Suzuki T.
PY - 2023
SP - 249
EP - 257
DO - 10.5220/0012177500003543
PB - SciTePress