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JRM Vol.32 No.3 pp. 588-597
doi: 10.20965/jrm.2020.p0588
(2020)

Paper:

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

Hidehisa Yoshida, Kohei Yoshida, and Toyoyuki Honjo

National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

Received:
December 26, 2019
Accepted:
April 24, 2020
Published:
June 20, 2020
Keywords:
boarding-type personal mobility, path planning, passing pedestrian on the way, microscopic pedestrian behavior model
Abstract
Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior

Cost proposal using switching strategy

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.

Cite this article as:
H. Yoshida, K. Yoshida, and T. Honjo, “Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior,” J. Robot. Mechatron., Vol.32, No.3, pp. 588-597, 2020.
Data files:
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Last updated on Dec. 03, 2020