JRM Vol.24 No.1 pp. 165-173
doi: 10.20965/jrm.2012.p0165


An RT Component for Simulating People Movement in Public Space and its Application to Robot Motion Planner Development

Atsushi Shigemura, Yuki Ishikawa, Jun Miura,
and Junji Satake

Department of Computer Science and Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku-cho, Toyohashi, Aichi 441-8580, Japan

April 28, 2011
August 24, 2011
February 20, 2012
people movement simulator, people behavior modeling, path planner, RT component

This paper describes a software module for simulating “people movement” in public space such as shopping centers and cafeterias. We decompose people movement into global and local, and make a model of each of them. Global movement corresponds to following a route from a current position to a destination. In local movement, a person moves toward the next subgoal while avoiding surrounding persons and obstacles. We also model behavior specific to a cafeteria, such as queuing and searching for unoccupied seats. We implement these simulation algorithms in a simulator RT component, that can be used easily for development of robot motion planners, which are also realized as RT components. Various simulation experiments show the effectiveness of the simulation algorithms and the simulator RT component.

Cite this article as:
Atsushi Shigemura, Yuki Ishikawa, Jun Miura, and
and Junji Satake, “An RT Component for Simulating People Movement in Public Space and its Application to Robot Motion Planner Development,” J. Robot. Mechatron., Vol.24, No.1, pp. 165-173, 2012.
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