Development of pedestrian behavior model taking account of intention

Author

Tamura, Yusuke ; Le, Phuoc Dai ; Hitomi, Kentarou ; Chandrasiri, Naiwala P. ; Bando, Takashi ; Yamashita, Atsushi ; Asama, Hajime

Author_Institution

Dept. of Precision Mech., Chuo Univ., Tokyo, Japan

fYear

2012

fDate

7-12 Oct. 2012

Firstpage

382

Lastpage

387

Abstract

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 forces affected by other pedestrian and environment. The proposed model was verified through pedestrian observation experiments.

Keywords

behavioural sciences; control engineering computing; human-robot interaction; humanoid robots; mobile robots; pedestrians; road safety; virtual reality; human-robot coexisting environment; humanlike behavior; pedestrian behavior model; pedestrian intention; pedestrian observation experiment; people behavior; virtual force; Acceleration; Collision avoidance; Force; Legged locomotion; Predictive models; Switches;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Conference_Location

Vilamoura

ISSN

2153-0858

Print_ISBN

978-1-4673-1737-5

Type

conf

DOI

10.1109/IROS.2012.6385599

Filename

6385599