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JRM Vol.32 No.3 pp. 580-587
doi: 10.20965/jrm.2020.p0580
(2020)

Paper:

Autonomous Motion Planning in Pedestrian Space Considering Passenger Comfort

Hiroshi Yoshitake, Kenta Nishi, and Motoki Shino

Graduate School of Frontier Sciences, The University of Tokyo
5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8563, Japan

Received:
January 10, 2020
Accepted:
April 24, 2020
Published:
June 20, 2020
Keywords:
motion planning, autonomous locomotion, pedestrian space, passenger comfort, mobility scooter
Abstract

In this study, we proposed an autonomous motion planning method for improving passenger comfort while ensuring safety, particularly with respect to mobility scooters used by elderly people. We proposed a trajectory planner for restricting vehicle behaviors with large accelerations and jerks by selecting a safe trajectory from a set of preset trajectories. Then, based on this trajectory planner, we developed an autonomous motion planning method with four different driving modes, and evaluated the effectiveness of the method through a numerical simulation. The simulation results demonstrated that the proposed method increased comfort without compromising on safety.

Flowchart of proposed planning method

Flowchart of proposed planning method

Cite this article as:
H. Yoshitake, K. Nishi, and M. Shino, “Autonomous Motion Planning in Pedestrian Space Considering Passenger Comfort,” J. Robot. Mechatron., Vol.32 No.3, pp. 580-587, 2020.
Data files:
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