Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation
In daily life, there are many bottlenecks such as narrow passages, gaps between objects and entrances to rooms. At the bottlenecks, some deadlocks must occur so that mobile robots cannot move to their goals safely and efficiently. In order to solve this problem, it is necessary for robots working in...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2014-12-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/81/821/81_14-00330/_pdf/-char/en |
| _version_ | 1828329941997977600 |
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| author | Naoki IBE Gakuto MASUYAMA Atsushi YAMASHITA Hajime ASAMA |
| author_facet | Naoki IBE Gakuto MASUYAMA Atsushi YAMASHITA Hajime ASAMA |
| author_sort | Naoki IBE |
| collection | DOAJ |
| description | In daily life, there are many bottlenecks such as narrow passages, gaps between objects and entrances to rooms. At the bottlenecks, some deadlocks must occur so that mobile robots cannot move to their goals safely and efficiently. In order to solve this problem, it is necessary for robots working in daily life to give way to the others as humans do. The purpose of this research is to propose a new model for the mobile robot navigation in which the pedestrian intention is modeled with the probabilistic approach and show how important the give-way behavior is for the mobile robot navigation. In this research, we extend the Social Force Model with the intention vector to represent the intention change of the pedestrian and develop a new method to estimate others' intention. By modeling the pedestrian intention with probabilistic appoach, the proposed model solve the deadlocks at the bottleneck and realize the safe and efficient move of mobile robots. |
| first_indexed | 2024-04-13T20:33:36Z |
| format | Article |
| id | doaj.art-d024050d6bbe436d9d84c1c3ac5d99c1 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-13T20:33:36Z |
| publishDate | 2014-12-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-d024050d6bbe436d9d84c1c3ac5d99c12022-12-22T02:31:07ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612014-12-018182114-0033014-0033010.1299/transjsme.14-00330transjsmeGeneration of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigationNaoki IBE0Gakuto MASUYAMA1Atsushi YAMASHITA2Hajime ASAMA3Graduate School of Engineering, The University of TokyoFaculty of Science and Engineering, Chuo UniversityGraduate School of Engineering, The University of TokyoGraduate School of Engineering, The University of TokyoIn daily life, there are many bottlenecks such as narrow passages, gaps between objects and entrances to rooms. At the bottlenecks, some deadlocks must occur so that mobile robots cannot move to their goals safely and efficiently. In order to solve this problem, it is necessary for robots working in daily life to give way to the others as humans do. The purpose of this research is to propose a new model for the mobile robot navigation in which the pedestrian intention is modeled with the probabilistic approach and show how important the give-way behavior is for the mobile robot navigation. In this research, we extend the Social Force Model with the intention vector to represent the intention change of the pedestrian and develop a new method to estimate others' intention. By modeling the pedestrian intention with probabilistic appoach, the proposed model solve the deadlocks at the bottleneck and realize the safe and efficient move of mobile robots.https://www.jstage.jst.go.jp/article/transjsme/81/821/81_14-00330/_pdf/-char/enmobile robothuman-robot interactiongive-way behaviorrobot navigationpedestrian intention |
| spellingShingle | Naoki IBE Gakuto MASUYAMA Atsushi YAMASHITA Hajime ASAMA Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation Nihon Kikai Gakkai ronbunshu mobile robot human-robot interaction give-way behavior robot navigation pedestrian intention |
| title | Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation |
| title_full | Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation |
| title_fullStr | Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation |
| title_full_unstemmed | Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation |
| title_short | Generation of give-way behavior of pedestrian model with probabilistic intention for mobile robot navigation |
| title_sort | generation of give way behavior of pedestrian model with probabilistic intention for mobile robot navigation |
| topic | mobile robot human-robot interaction give-way behavior robot navigation pedestrian intention |
| url | https://www.jstage.jst.go.jp/article/transjsme/81/821/81_14-00330/_pdf/-char/en |
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