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Harmonious Robot Navigation Strategies for Pedestrians

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Intelligent Autonomous Systems 16 (IAS 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 412))

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Abstract

Recently, the demand for service robots that move autonomously in a crowded environment, such as stations, airports, and commercial facilities has increased. Such robots are required to move to a destination without hindering the progress of the surrounding pedestrians. Previous papers proposed collision avoidance methods based on the direction and distance of the destination of the robot, and the position and velocity of pedestrians in the vicinity. However, in a crowded environment, the behavior of a robot may affect other pedestrians, or the behavior of a pedestrian facing the robot may affect other pedestrians. Moreover, considering the motion strategy used by a pedestrian in a crowded environment, the impact on other pedestrians can be reduced by the robot following the pedestrians moving in the direction in which the robot wants to move. This navigation method has not been proposed thus far. Therefore, in this paper, we propose a method that considers the impact of the robot on surrounding pedestrians and the impact of those pedestrians on other pedestrians. The robot determines the avoidance or following action based on the traveling direction of the surrounding pedestrians.

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Acknowledgments

This work was supported by Core Research for Evolutional Science and Technology (CREST) of the Japan Science and Technology Agency (JST) [grant number JPMJCR19A1].

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Authors and Affiliations

  1. Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohokuku, Yokohama, 223-8522, Japan

    Shintaro Nakaoka & Masaki Takahashi

  2. Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, 223-8522, Japan

    Ayanori Yorozu

Authors
  1. Shintaro Nakaoka
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  2. Ayanori Yorozu
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  3. Masaki Takahashi
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Corresponding author

Correspondence to Shintaro Nakaoka .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Marcelo H. Ang Jr

  2. Department of Precision Engineering, University of Tokyo, Tokyo, Japan

    Hajime Asama

  3. Singapore Institute of Manufacturing Technology, Singapore, Singapore

    Wei Lin

  4. Engineering Product Development, Singapore University of Technology and Design, Singapore, Singapore

    Shaohui Foong

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Nakaoka, S., Yorozu, A., Takahashi, M. (2022). Harmonious Robot Navigation Strategies for Pedestrians. In: Ang Jr, M.H., Asama, H., Lin, W., Foong, S. (eds) Intelligent Autonomous Systems 16. IAS 2021. Lecture Notes in Networks and Systems, vol 412. Springer, Cham. https://doi.org/10.1007/978-3-030-95892-3_8

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