Pedestrian’s Avoidance Behavior Characteristics Against Autonomous Personal Mobility Vehicles for Smooth Avoidance

Autonomous personal mobility vehicles (PMVs), such as electric wheelchairs, are meant to drive through pedestrian spaces. Cooperative pedestrian avoidance by PMVs is necessary in these spaces to maintain smooth traffic. Previous studies suggested that PMVs can avoid pedestrians on a shorter path wit...

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Bibliographic Details
Published inJournal of robotics and mechatronics Vol. 36; no. 4; pp. 918 - 927
Main Authors Harada Ryunosuke, Yoshitake, Hiroshi, Shino Motoki
Format Journal Article
LanguageEnglish
Published Tokyo Fuji Technology Press Co. Ltd 01.08.2024
Subjects
Angular velocity
Autonomous navigation
Avoidance
Avoidance behavior
Hypotheses
Pedestrians
Robotics
Robots
Role models
Traffic control
Vehicles
Velocity
Wheelchairs
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Summary:Autonomous personal mobility vehicles (PMVs), such as electric wheelchairs, are meant to drive through pedestrian spaces. Cooperative pedestrian avoidance by PMVs is necessary in these spaces to maintain smooth traffic. Previous studies suggested that PMVs can avoid pedestrians on a shorter path without compromising each other’s acceptability. This avoidance can be realized by understanding how pedestrians react to the behavior of PMVs and considering those characteristics in the autonomous navigation of PMVs. In this study, the characteristics of pedestrian’s avoidance behavior were investigated. Experiments were conducted to understand the influence of the parameters of the PMV’s avoidance behavior on pedestrians. Results showed that the angular velocity of the PMV during avoidance affects the pedestrian’s avoidance width and tolerance against the PMV’s behavior. These results suggest that it is possible to avoid pedestrians in smaller avoidance spaces by controlling the angular velocity of the PMV and maintaining smooth traffic.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2024.p0918