Skip to main content
SpringerLink
Log in

A Novel Path Planning Approach for Robotic Navigation Using Consideration Within Crowds

  • Conference paper
  • First Online:
Towards Autonomous Robotic Systems (TAROS 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9287))

Included in the following conference series:

Abstract

This paper presents a novel approach towards mobile robotic path planning within a pedestrian environment, focused on being considerate towards crowd members. Through predicting pedestrian movement, with ellipses used to encompass the uncertainty, a modified Voronoi diagram is proposed to create a roadmap through the environment. Predictions of pedestrian trajectories are used to generate collision-free paths that minimise congestion and are considerate to the overall crowd flow. The results demonstrate that the robot’s movement allows potential collisions to be recognised in advance and avoided before they can develop.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Zeng, S., Weng, J.: Obstacle avoidance through incremental learning with attention selection. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, vol. 1, pp. 115–121 (2004)

    Google Scholar 

  2. Trautman, P., Krause, A.: Unfreezing the robot: navigation in dense, interacting crowds. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 797–803 (2010)

    Google Scholar 

  3. Helbing, D.: Models for Pedestrian Behavior (1998). eprint arXiv:cond-mat/9805089

  4. Pellegrini, S., et al.: You’ll never walk alone: modeling social behavior for multi-target tracking. In: 2009 IEEE 12th International Conference on Computer Vision, pp. 261–268 (2009)

    Google Scholar 

  5. Jin, L., et al.: A sweepline algorithm for euclidean voronoi diagram of circles. Computer-Aided Design 38(3), 260–272 (2006)

    Article  Google Scholar 

  6. Emiris, I.Z., et al.: Exact voronoi diagram of smooth convex pseudo-circles: General predicates, and implementation for ellipses. Computer Aided Geometric Design 30(8), 760–777 (2013)

    Article  MathSciNet  Google Scholar 

  7. Lhner, R.: On the modeling of pedestrian motion. Applied Mathematical Modelling 34(2), 366–382 (2010)

    Article  MathSciNet  Google Scholar 

  8. Huber, M., et al.: Adjustments of speed and path when avoiding collisions with another pedestrian. PLoS ONE 9(2), e89589 (2014). http://dx.doi.org/10.1371%2Fjournal.pone.0089589

  9. Pelechano, N., et al.: Virtual Crowds: Methods, Simulation, and Control. Morgan & Claypool Publishers (2008)

    Google Scholar 

  10. Hughes, R.L.: The flow of human crowds. Annual Review of Fluid Mechanics 35(1), 169–182 (2003)

    Article  Google Scholar 

  11. Bellomo, N., Dogbé, C.: On the modelling crowd dynamics from scaling to hyperbolic macroscopic models. Mathematical Models and Methods in Applied Sciences 18(supp01), 1317–1345 (2008)

    Article  MathSciNet  Google Scholar 

  12. Helbing, D., Molnár, P.: Social force model for pedestrian dynamics. Phys. Rev. E 51, 4282–4286 (1995)

    Article  Google Scholar 

  13. Henry, P., et al.: Learning to navigate through crowded environments. In: IEEE International Conference on Robotics and Automation, pp. 981–986 (2010)

    Google Scholar 

  14. Choset, H., et al.: Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, Cambridge (2005)

    Google Scholar 

  15. Burgard, W., et al.: The interactive museum tour-guide robot. In: Proc. of the Fifteenth National Conference on Artificial Intelligence (AAAI 1998) (1998)

    Google Scholar 

  16. Thrun, S., et al.: Minerva: a second-generation museum tour-guide robot. In: Proceedings of the 1999 IEEE International Conference on Robotics and Automation, vol. 3, pp. 1999–2005 (1999)

    Google Scholar 

  17. Fox, D., et al.: A hybrid collision avoidance method for mobile robots. In: Proc. of the IEEE International Conference on Robotics and Automation 1998 (1998)

    Google Scholar 

  18. Yoshimi, T., et al.: Development of a person following robot with vision based target detection. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5286–5291, October 2006

    Google Scholar 

  19. Walters, M., et al.: The influence of subjects’ personality traits on personal spatial zones in a human-robot interaction experiment. In: IEEE International Workshop on Robot and Human Interactive Communication, pp. 347–352 (2005)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, UK

    Ross Walker & Tony J. Dodd

Authors
  1. Ross Walker
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tony J. Dodd
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ross Walker .

Editor information

Editors and Affiliations

  1. University of Liverpool, Liverpool, United Kingdom

    Clare Dixon

  2. University of Liverpool, Liverpool, United Kingdom

    Karl Tuyls

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Walker, R., Dodd, T.J. (2015). A Novel Path Planning Approach for Robotic Navigation Using Consideration Within Crowds. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_31

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-22416-9_31

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22415-2

  • Online ISBN: 978-3-319-22416-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation