Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching Pedestrians
There are high expectations for autonomous personal mobility vehicles (PMVs) to support the mobility of older people. Autonomous navigation systems are being developed to assist mobility in public areas with mixed pedestrian traffic, such as airports and shopping malls. For autonomous navigation of...
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MDPI AG
2024-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/14/24/11622 |
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| author | Motonobu Omori Hiroshi Yoshitake Motoki Shino |
| author_facet | Motonobu Omori Hiroshi Yoshitake Motoki Shino |
| author_sort | Motonobu Omori |
| collection | DOAJ |
| description | There are high expectations for autonomous personal mobility vehicles (PMVs) to support the mobility of older people. Autonomous navigation systems are being developed to assist mobility in public areas with mixed pedestrian traffic, such as airports and shopping malls. For autonomous navigation of PMVs, achieving both comfort and efficiency, even in crowded environments, is important. In this study, we focused on the characteristic of passenger tolerance, in which a passenger’s discomfort is relatively small concerning an approaching pedestrian. The objective was to propose an efficient autonomous navigation method without increasing passenger discomfort, considering the characteristics of passenger tolerance. First, the passenger tolerance characteristics were clarified through data analysis of a previous study’s dataset and a newly collected dataset. Next, a path-planning method considering the characteristics was proposed, and the proposed method was evaluated by numerical simulations. The evaluation results showed that the proposed method has a potential to achieve efficient autonomous navigation in crowded environments. |
| format | Article |
| id | doaj-art-45a9e015e00f43d58ffcd12d53e95a77 |
| institution | DOAJ |
| issn | 2076-3417 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-45a9e015e00f43d58ffcd12d53e95a772025-08-20T02:50:56ZengMDPI AGApplied Sciences2076-34172024-12-0114241162210.3390/app142411622Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching PedestriansMotonobu Omori0Hiroshi Yoshitake1Motoki Shino2Department of Human and Engineered Environmental Studies, Graduate School of Frontier Sciences, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa 113-8654, JapanDepartment of Mechanical Engineering, School of Engineering, Institute of Science Tokyo, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, JapanDepartment of Mechanical Engineering, School of Engineering, Institute of Science Tokyo, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, JapanThere are high expectations for autonomous personal mobility vehicles (PMVs) to support the mobility of older people. Autonomous navigation systems are being developed to assist mobility in public areas with mixed pedestrian traffic, such as airports and shopping malls. For autonomous navigation of PMVs, achieving both comfort and efficiency, even in crowded environments, is important. In this study, we focused on the characteristic of passenger tolerance, in which a passenger’s discomfort is relatively small concerning an approaching pedestrian. The objective was to propose an efficient autonomous navigation method without increasing passenger discomfort, considering the characteristics of passenger tolerance. First, the passenger tolerance characteristics were clarified through data analysis of a previous study’s dataset and a newly collected dataset. Next, a path-planning method considering the characteristics was proposed, and the proposed method was evaluated by numerical simulations. The evaluation results showed that the proposed method has a potential to achieve efficient autonomous navigation in crowded environments.https://www.mdpi.com/2076-3417/14/24/11622personal mobility vehicleautonomous navigationpath planningtolerancepassenger characteristics |
| spellingShingle | Motonobu Omori Hiroshi Yoshitake Motoki Shino Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching Pedestrians Applied Sciences personal mobility vehicle autonomous navigation path planning tolerance passenger characteristics |
| title | Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching Pedestrians |
| title_full | Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching Pedestrians |
| title_fullStr | Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching Pedestrians |
| title_full_unstemmed | Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching Pedestrians |
| title_short | Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance to Approaching Pedestrians |
| title_sort | autonomous navigation for personal mobility vehicles considering passenger tolerance to approaching pedestrians |
| topic | personal mobility vehicle autonomous navigation path planning tolerance passenger characteristics |
| url | https://www.mdpi.com/2076-3417/14/24/11622 |
| work_keys_str_mv | AT motonobuomori autonomousnavigationforpersonalmobilityvehiclesconsideringpassengertolerancetoapproachingpedestrians AT hiroshiyoshitake autonomousnavigationforpersonalmobilityvehiclesconsideringpassengertolerancetoapproachingpedestrians AT motokishino autonomousnavigationforpersonalmobilityvehiclesconsideringpassengertolerancetoapproachingpedestrians |