Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior | Zendy

Hidehisa YOSHIDA | Zendy; Kohei Yoshida | Zendy; Toyoyuki Honjo | Zendy

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Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior

Author(s) -

Hidehisa YOSHIDA,

Kohei Yoshida,

Toyoyuki Honjo

Publication year - 2020

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2020.p0588

Subject(s) - pedestrian , path (computing) , computer science , unit (ring theory) , personal mobility , simulation , selection (genetic algorithm) , real time computing , transport engineering , computer network , artificial intelligence , engineering , psychology , mathematics education

In this study, we consider a scenario in which a boarding-type personal mobility (BPM) unit navigates in a mixed environment with pedestrians. The BPM unit passenger is expected to pass pedestrians in a smooth manner without imparting anxiety to them. This is accomplished by selecting appropriate paths on a successively updated map of the surrounding environment. Based on a model that simulates a pedestrian’s path selection behavior, we design and investigate a path selection method that avoids sudden behavior changes in the BPM unit, which may cause apprehensiveness to the passenger.

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