Movement model of crowd robots based on human collision avoidance

This paper proposes a movement model of crowd mobile robots in order to investigate movement behavior of crowd robots. This model contains functions of the collision avoidance and the trajectory decision of each robot taking one´s own inertia into account. The trajectory decision is realized as a servo system. Collision avoidance is attained by quasi Coulomb force generated among robots and also between a robot and a wall. It is shown that simulation results of crowd robots progressing to one exit in two cases of passageway configurations, straight and a right angle.