Mobile Robot Navigation Based on Local Route Information and Pedestrians' Flow

• KUMAHARA Wataru

  東京大学大学院

• MASUYAMA Gakuto

  東京大学大学院

• TAMURA Yusuke

  中央大学

• YAMASHITA Atsushi

  東京大学大学院

• ASAMA Hajime

  東京大学大学院

Bibliographic Information

Other Title

• 局所経路情報と歩行者流情報を用いた移動ロボットナビゲーション手法

Abstract

This paper proposes a new navigation method that makes a mobile robot move without map information. Past navigation methods need map information and the robot's self-location. If the robot has no information of map or mistakes localization, the navigation method cannot be used. To overcome this problem, we introduce a new concept “leading vector” that indicates about the direction of the destination (local route information). The robot can move smoothly by using the leading vector if the passage structure is not complicated. However, the robot may be in danger of collision in compli-cated environments only using the leading vector. Therefore, the proposed method uses pedestrians' flow information. The environmental information is enclosed by the pedestrians' flow information at second hand. The robot can reach its destination by utilizing the leading vector using the local route information and the pedestrians' flow information. In this paper, simulation experiment was conducted, and its results show the effectiveness of the proposed method.

Journal

• Journal of the Japan Society for Precision Engineering

  Journal of the Japan Society for Precision Engineering 79 (4), 349-355, 2013

  The Japan Society for Precision Engineering

Keywords

• mobile robot navigation
• potential method
• path planning
• pedestrian's flow

Details

• CRID: 1390001204830030976
• NII Article ID: 130004513543
• DOI: 10.2493/jjspe.79.349
• ISSN: 1882675X
• ISSN: 09120289
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed