障害物の角速度情報と解像度可変ポテンシャル場を用いた自律走行パーソナルモビリティの運動制御

Abstract

In recent years, personal mobility (PM), electric vehicles that are smaller and slower than conventional automobiles, have been attracting attention, and are expected to be used on sidewalks and in shared spaces where vehicles and pedestrians can coexist. PM is also expected to be used as a means of transportation for the physically challenged and the elderly who have difficulty getting around by themselves, and research is being conducted to automate PM operation. In this situation, our group proposed a PM motion control method based on a spatio-temporal potential that takes into account the motion characteristics of obstacles. However, this method is not sufficient to avoid obstacles with large angular velocities, such as pedestrians. It is also not a practical method because of the time required for computation. Therefore, this paper proposes a new practical PM motion control method that improves these points. By defining a new potential field that takes into account the angular velocity of the obstacle, the proposed method improves the performance against obstacles whose avoidance performance was insufficient in the previous method. At the same time, to increase practicality, a reduction algorithm with variable resolution of the potential field is incorporated as a method to reduce computational complexity while maintaining avoidance performance as much as possible. Finally, the effectiveness of the proposed method is verified through numerical simulations assuming a shared space.