局所経路情報と歩行者流情報に基づく未知動的環境下における移動ロボットナビゲーション

概要

This paper proposes a new navigation method that makes a mobile robot move in dynamic unknown environments. Past dynamic motion planning methods are applied to low pedestrian density. If the robot is surrounded by a lot of pedestrians, it becomes difficult that the robot breaks awayfrom the crowd. To overcome this problem, we introduce a new potential field method that makes the robot follow and avoid pedestrians without map information. The robot can move smoothly by joining a pedestrian flow that is headed in a leading vector. The leading vector indicates about the direction of the destination. In addition, the leading vector is updated by local path information, such as an informatory sign in a station, and pedestrians. Simulation results show the effectiveness of the proposed method.