Including human factors for planning comfortable paths

Yoichi Morales, Atsushi Watanabe, Florent Ferreri, Jani Even, Tetsushi Ikeda, Kazuhiro Shinozawa, Takahiro Miyashita, Norihiro Hagita

研究成果: Conference article査読

30 被引用数 (Scopus)


This work proposes a Human-Comfortable Path Planner (HCoPP) system for autonomous passenger vehicles. The aim is to create a path planner that improves the feeling of comfort of the passenger, this topic is different from collision free planning and it has not received much attention. For this purpose, in addition to the shortest distance constraint conventionally used in path planning, constraints related to relevant environmental features are introduced. For straight segments, the constraint is based on the lane-circulation pattern preferred by humans. In curved segments and intersections, the constraint takes into account the visibility. A multi-layered cost map is proposed to integrate these additional constraints. To compute the human-comfortable path, a graph search algorithm was implemented. The evaluation of the proposed approach was conducted by having 30 participants riding an autonomous robotic wheelchair. The paths computed by the proposed path planner were compared towards a state of the art shortest-distance path planner implemented in the navigation stack of ROS. Experimental results show that the paths computed by the proposed approach are perceived as more comfortable.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版ステータスPublished - 2015 6 29
イベント2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
継続期間: 2015 5 262015 5 30

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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