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I built a human tracker to detect and track humans around the Personal Mobility Vehicle (PMV). A density map around the PMV was built to extract the personal space of PMV's in pedestrian paths.
A local path planner was built based on this personal space shape around the PMV.
The local planner computed safe and comfortable trajectories for the PMV while keeping the personal space free from obstacles.
Results were published in a high impact international conference paper (IROS 2018 "Personal Mobility Vehicle Autonomous Navigation through Pedestrian Flow: A Data Driven Approach for Parameter Extraction"). Currently there is under submission an IROS2019 paper and I am preparing another international conference paper (IROS 2020) and a journal version of the work.
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