Harmonious Robot Navigation Strategies for Pedestrians

Shintaro Nakaoka, Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Recently, the demand for service robots that move autonomously in a crowded environment, such as stations, airports, and commercial facilities has increased. Such robots are required to move to a destination without hindering the progress of the surrounding pedestrians. Previous papers proposed collision avoidance methods based on the direction and distance of the destination of the robot, and the position and velocity of pedestrians in the vicinity. However, in a crowded environment, the behavior of a robot may affect other pedestrians, or the behavior of a pedestrian facing the robot may affect other pedestrians. Moreover, considering the motion strategy used by a pedestrian in a crowded environment, the impact on other pedestrians can be reduced by the robot following the pedestrians moving in the direction in which the robot wants to move. This navigation method has not been proposed thus far. Therefore, in this paper, we propose a method that considers the impact of the robot on surrounding pedestrians and the impact of those pedestrians on other pedestrians. The robot determines the avoidance or following action based on the traveling direction of the surrounding pedestrians.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
EditorsMarcelo H. Ang Jr, Hajime Asama, Wei Lin, Shaohui Foong
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages11
ISBN (Print)9783030958916
Publication statusPublished - 2022
Event16th International Conference on Intelligent Autonomous Systems, IAS-16 2020 - Virtual, Online
Duration: 2021 Jun 222021 Jun 25

Publication series

NameLecture Notes in Networks and Systems
Volume412 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


Conference16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
CityVirtual, Online


  • Collision avoidance
  • Dynamic environment
  • Social-aware navigation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications


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