車輪の拘束条件を考慮した電動キックボードの移動予測モデル

概要

This research aims to apply Social Force Model (SFM), which has been used to predict pedestrian behaviors, to electric scooter (e-scooter) movement. Unlike pedestrians, e-scooter movement is restricted by nonholonomic constraints of wheels, which prevent wheels from skidding. Therefore, this study tries to incorporate such kinematic constraints into the model. Then, I conducted experiments in which the trajectories of e-scooter riders were observed by a camera. The observed trajectories were used to calculate the minimum positioning errors between the observed trajectories and the simulation trajectories. The result shows that the difference between the positioning errors between the observed trajectories and trajectories of SFM and those between the observed trajectories and trajectories of the proposed model are small.