Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance against Approaching Pedestrians-Reference-Cited by-同舟云学术

Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance against Approaching Pedestrians

Published:2024-01-04 Issue: Volume: Page:
ISSN:
Container-title:
language:
Short-container-title:

Author:

Omori Motonobu¹,Yoshitake Hiroshi¹,Shino Motoki²

Affiliation:

1. University of Tokyo

2. Tokyo Institute of Technology

Abstract

Abstract There are high expectations for autonomous personal mobility vehicles (PMVs) to support the mobility of older people. Autonomous navigation systems are being developed to assist mobility in public areas with mixed pedestrian traffic, such as airports and shopping malls. For autonomous navigation of PMVs, achieving both efficiency and comfort is important. In this study, we focused on the characteristic of passenger tolerance, in which a passenger’s discomfort is relatively small concerning an approaching pedestrian. The objective was to propose an efficient and comfortable autonomous navigation method considering the characteristics of passenger tolerance. First, the passenger tolerance characteristics were clarified through data analysis of a previous study’s dataset and a newly collected dataset. Next, a path planning method considering the characteristics was proposed, and the proposed method was evaluated by numerical simulations. The evaluation results showed that the proposed method can achieve efficient and comfortable autonomous navigation, especially in crowded environments.

Publisher

Research Square Platform LLC

Reference9 articles.

1. Investigation report of accident causation based on article 23, paragraph 1 of Consumer safety Act. https://www.caa.go.jp/policies/council/csic/report/report_009/pdf/report_009_180129_0001.pdf (Accessed December 18, 2023) Consumer Affairs Agency, Niijima S, Sasaki Y, Mizoguchi H (2018) Autonomous navigation of electric wheelchairs in urban areas on the basis of self-generated 2D drivable maps. In: 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). pp. 1081–1086., Onozuka Y, Matsumi R, Shino M (2021) Autonomous Mobile Robot Navigation Independent of Road Boundary Using Driving Recommendation Map. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp.4501–4508. https://doi.org/10.1109/IROS51168.2021.9636635, Park JJ, Johnson C, Kuipers B (2012) Robot navigation with model predictive equilibrium point control. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 4945–4952. https://doi.org/10.1109/IROS.2012.6386195., Trautman P, Krause A (2010) Unfreezing the robot: Navigation in dense, interacting crowds. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 797–803. https://doi.org/10.1109/IROS.2010.5654369., Yoshitake H, Nishi K, Shino M (2016) (2020) Autonomous motion planning in pedestrian space considering passenger comfort. J Robot Mechatron 32(3): 580–587. https://doi.org/10.20965/jrm.2020.p0580

2. Hall ET (1966) The hidden dimension. (Vol 609) Anchor

3. Evaluation of the effects of a personal mobility vehicle on multiple pedestrians using personal space;Pham TQ;IEEE Trans Intell Transp Syst,2015

4. Toyoshima A, Nishino N, Chugo D, Muramatsu S, Yokota S, Hashimoto H (2018) Autonomous mobile robot navigation: Consideration of the pedestrian's dynamic personal space. 2018 IEEE 27th International Symposium on Industrial Electronics (ISIE). pp. 1094–1099. https://doi.org/10.1109/ISIE.2018.8433693

5. Harada R, Yoshitake H, Shino M (2021) Smooth autonomous locomotion considering avoidance behavioral characteristics of pedestrian. In: The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomech), 2P1-B12 2021 (in Japanese). https://doi.org/10.1299/jsmermd.2021.2P1-B12