Mobile Robot Navigation Based on Pedestrian Flow Model Considering Human Unsteady Dynamic Behavior

Ryusei Shigemoto, Ryosuke Tasaki

2023

Abstract

Achieving robot navigation that satisfies the requirements of safety and efficiency in a dynamic environment crowded with people is a challenging task because of the need to implement social aspects of robot behavior. In this study, a robot navigation method based on an unsteady dynamic pedestrian flow model is proposed, taking into account the unsteady dynamic nature of pedestrian flow, which has not been taken into account in conventional algorithms. We propose a method that enables continuous following of unsteady pedestrian flow, which allow the robot to approach the destination safely and efficiently. The social compatibility of the proposed navigation system, consisting of safety and efficiency, is evaluated through several simulations and actual experiments.

Paper Citation

in Harvard Style

Shigemoto R. and Tasaki R. (2023). Mobile Robot Navigation Based on Pedestrian Flow Model Considering Human Unsteady Dynamic Behavior. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 281-284. DOI: 10.5220/0012211900003543

in Bibtex Style

@conference{icinco23,
author={Ryusei Shigemoto and Ryosuke Tasaki},
title={Mobile Robot Navigation Based on Pedestrian Flow Model Considering Human Unsteady Dynamic Behavior},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={281-284},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012211900003543},
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 1: ICINCO
TI - Mobile Robot Navigation Based on Pedestrian Flow Model Considering Human Unsteady Dynamic Behavior
SN - 978-989-758-670-5
AU - Shigemoto R.
AU - Tasaki R.
PY - 2023
SP - 281
EP - 284
DO - 10.5220/0012211900003543
PB - SciTePress