Pedestrian Avoidance Method Considering Passenger Comfort for Autonomous Personal Mobility Vehicles
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- Yoshitake Hiroshi
- Graduate School of Frontier Sciences, The University of Tokyo
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- Isono Yosuke
- Graduate School of Frontier Sciences, The University of Tokyo
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- Shino Motoki
- Graduate School of Frontier Sciences, The University of Tokyo
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Description
<p>During the autonomous navigation of personal mobility vehicles (PMVs) in pedestrian spaces, avoiding collisions with pedestrians walking nearby is necessary. The avoidance paths of PMVs are affected by the behaviors of the pedestrians, which may also affect passenger comfort. Herein, a local path-planning method that considers passenger comfort to realize comfortable pedestrian avoidance during the autonomous navigation of PMVs in pedestrian spaces is proposed. First, the avoidance path and pedestrian behavior parameters affecting passenger comfort are investigated by evaluating passenger comfort in scenarios with different avoidance paths and pedestrian behaviors. Next, the requirements of a pedestrian avoidance method that considers passenger comfort are set based on the parameters affecting passenger comfort. Finally, a novel path-planning method that satisfies the requirements is proposed. The method is shown to generate comfortable paths in pedestrian spaces via a numerical simulation and participant experiment.</p>
Journal
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 35 (2), 231-239, 2023-04-20
Fuji Technology Press Ltd.
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Details 詳細情報について
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- CRID
- 1390577298347805056
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- NII Book ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL BIB ID
- 032772209
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
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- Abstract License Flag
- Disallowed