Motion Control of the Autonomous Mobile Robot Considering Personal Spaces of Pedestrians

This paper proposed a motion control method for autonomous mobile robot by considering personal spaces of pedestrians. The behaviors of pedestrians are recognized and their personal spaces, including the spaces that potentially used when doing interactions with other people or objects, are defined. The robots are then controlled by potential field method to move towards its destination while avoiding disturbing others. In this way, the robot achieves moving considerately and its social acceptance can be improved. The effectiveness of the proposed method is proven by simulation and experiments.