A study on a pedestrian model for mobile robots in human-robot co-existing environment
Project/Area Number |
15K00137
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Multi-year Fund |
Section | 一般 |
Research Field |
Information network
|
Research Institution | Tokyo Woman's Christian University |
Principal Investigator |
Kato Yuka 東京女子大学, 現代教養学部, 教授 (70345429)
|
Research Collaborator |
AKIYAMA Sayaka
|
Project Period (FY) |
2015-04-01 – 2018-03-31
|
Project Status |
Completed (Fiscal Year 2017)
|
Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2016: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
|
Keywords | 人移動モデル / 移動ロボット / ロボットとの共存 / 案内サービス / 人属性推定 / 屋内環境センシング / 遠隔ナビゲーション |
Outline of Final Research Achievements |
This study formulated the future moving state of a person as a pedestrian model in a human-robot co-existing environment for mobile robot navigation and proposed a method for safely and efficient path planning of autonomous mobile robots. The research findings are as follows: (i) the study enhanced the pedestrian model generally known as Social Force Model by using a human-robot mutual intention estimation model, and proposed a model varying over time according to environments; (ii) the study proposed a method based on machine learning algorithms to predict the future trajectory of a pedestrian as sequence data by using massive trajectory records collected by various sensor devices.
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Report
(4 results)
Research Products
(28 results)