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


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

December 26, 2019
April 24, 2020
June 20, 2020
boarding-type personal mobility, path planning, passing pedestrian on the way, microscopic pedestrian behavior model

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.

Cost proposal using switching strategy

Cost proposal using switching strategy

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.
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