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In order for robots to safely move in human-robot coexisting environment, they must be able to predict their surrounding people's behavior. In this study, a pedestrian behavior model that produces humanlike behavior was developed. The model takes into account the pedestrian's intention. Based on the intention, the model pedestrian sets its subgoal and moves toward the subgoal according to virtual...
In order to operate mobile robot that can coexist with human, it is necessary to strike a balance between safety and efficiency. It is effective to make a prediction about when and where human exist from data of pedestrian movement and environment. Then, we need to know how the configuration of environment effects pedestrian. This paper presents a measuring system of pedestrian movement tendency,...
A new artificial potential field method for motion planning of mobile robot is developed in this paper. As a reactive motion of robot, a feedback oriented to the contour of repulsive potential function is applied with the ordinal attractive and repulsive component. Furthermore, inspired by Particle Swarm Optimization, particles as simplified virtual robots are utilized for motion planning. Each particle...
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