トポロジカルな地図情報と歩行者流情報を用いた移動ロボットナビゲーション手法の提案

概要

This paper proposes a new navigation method of mobile robot based on topological maps. We introduce a new concept “leading vector” that indicates about the direction of the goal and is updated by pedestrian flow. The robot can reach its destination by utilizing the leading vector. Simulation results show the effectiveness of the proposed method.