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

Atsushi Shigemura; Yuki Ishikawa; Jun Miura; Junji Satake

doi:10.20965/jrm.2012.p0165

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JRM Vol.24 No.1 pp. 165-173

doi: 10.20965/jrm.2012.p0165

(2012)

Paper:

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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

Received:

April 28, 2011

Accepted:

August 24, 2011

Published:

February 20, 2012

Keywords:

people movement simulator, people behavior modeling, path planner, RT component

Abstract

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:

A. Shigemura, Y. Ishikawa, J. Miura, and J. 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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References

[1] C.W. Raynolds, “Flocks, Herds, and Schools: A Distributed Behavioral Model,” Computer Graphics, Vol.21, No.4, pp. 25-34, 1987.
[2] D. Helbing, I. J. Harkas, P. Molnar, and T. Vicsek, “Simulation of Pedestrian Crowds, in Normal and Evacuation Situations,” Proc. of Pedestrian and Evacuation Dynamics 2000, pp. 21-58, 2000.
[3] A. Akuzawa and A. Taguchi, “A Study of Simulation Model for Pedestrian Movement in a Station Yard,” Abstracts of 2005 Autumn Forum of the Operations Research Society of Japan, pp. 192-193, 2005. (in Japanese)
[4] N. Ando, T. Suehiro, K. Kitagaki, T. Kotoku, and W.-K. Yoon, “RTmiddleware: Distributed component middleware for RT (robot technology),” 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3555-3560, 2005.
[5] E. T. Hall, “The hidden dimension,” Doubleday & Company, 1966.
[6] J. J. Fruin, “PEDESTRIAN – Planning and Design –,”Metropolitan Association of Urban Designers and Environmental Planners, 1971.
[7] K. Okada, T. Wada, and Y. Takahashi, “Walking model and people flow simulation based on person’s behavior,” Abstracts of 2003 Spring Forum of the Operations Research Society of Japan, pp. 102-103, 2003. (in Japanese)
[8] F. Lamarche and S. Donikian, “Crowds of Virtual Humans: a New Approach for Real Time Navigation in Complex and Structured Environments,” Computer Graphics Forum, Proc. of Eurographics 2004, Vol.3, No.23, pp. 509-518, 2004.
[9] I. Ardiyanto and J. Miura, “Heuristically Arrival Time Field-Biased (HeAT) Random Tree: An Online Path Planning Algorithm for Mobile Robot Consdering Kinodynamic Constraints,” Proc. of 2011 IEEE Int. Conf. on Robotics and Biomimetics, pp. 360-365, 2011.
[10] K. Kitajima, J. Miura, and J. Satake, “Map generation and localization for mobile robot using appearance and range information,” JSME Robotics and Mechatronics Conderence 2011, 2011. (in Japanese)

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] C.W. Raynolds, “Flocks, Herds, and Schools: A Distributed Behavioral Model,” Computer Graphics, Vol.21, No.4, pp. 25-34, 1987.

[2] [2] D. Helbing, I. J. Harkas, P. Molnar, and T. Vicsek, “Simulation of Pedestrian Crowds, in Normal and Evacuation Situations,” Proc. of Pedestrian and Evacuation Dynamics 2000, pp. 21-58, 2000.

[3] [3] A. Akuzawa and A. Taguchi, “A Study of Simulation Model for Pedestrian Movement in a Station Yard,” Abstracts of 2005 Autumn Forum of the Operations Research Society of Japan, pp. 192-193, 2005. (in Japanese)

[4] [4] N. Ando, T. Suehiro, K. Kitagaki, T. Kotoku, and W.-K. Yoon, “RTmiddleware: Distributed component middleware for RT (robot technology),” 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3555-3560, 2005.

[5] [5] E. T. Hall, “The hidden dimension,” Doubleday & Company, 1966.

[6] [6] J. J. Fruin, “PEDESTRIAN – Planning and Design –,”Metropolitan Association of Urban Designers and Environmental Planners, 1971.

[7] [7] K. Okada, T. Wada, and Y. Takahashi, “Walking model and people flow simulation based on person’s behavior,” Abstracts of 2003 Spring Forum of the Operations Research Society of Japan, pp. 102-103, 2003. (in Japanese)

[8] [8] F. Lamarche and S. Donikian, “Crowds of Virtual Humans: a New Approach for Real Time Navigation in Complex and Structured Environments,” Computer Graphics Forum, Proc. of Eurographics 2004, Vol.3, No.23, pp. 509-518, 2004.

[9] [9] I. Ardiyanto and J. Miura, “Heuristically Arrival Time Field-Biased (HeAT) Random Tree: An Online Path Planning Algorithm for Mobile Robot Consdering Kinodynamic Constraints,” Proc. of 2011 IEEE Int. Conf. on Robotics and Biomimetics, pp. 360-365, 2011.

[10] [10] K. Kitajima, J. Miura, and J. Satake, “Map generation and localization for mobile robot using appearance and range information,” JSME Robotics and Mechatronics Conderence 2011, 2011. (in Japanese)

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

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