A study on a pedestrian model for mobile robots in human-robot co-existing environment

2017 Fiscal Year Final Research Report

• 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
• 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

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.

Free Research Field

情報学