Robot-assisted pedestrian regulation in an exit corridor

Chao Jiang, Zhen Ni, Yi Guo, Haibo He

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

Due to the faster-is-slower phenomenon in emergency escape, it is desirable to regulate pedestrian flow at the exit or a bottleneck. Modification of pedestrian facilities was previously studied to increase the efficiency and safety by the transportation community. We propose a robot-assisted pedestrian regulation scheme and study passive human-robot interaction (HRI), where the robot acts as a dynamic obstacle that interacts with pedestrians. Such a robot-assisted solution replaces expensive infrastructure modification with real-time reconfigurability. In the paper, we first formulate a robotassisted flow optimization problem based on the social force models of pedestrian dynamics with embedded HRI forces. We then present an online learning algorithm based on adaptive dynamic programming (ADP) to generate motion control so that the robot can replan and adapt its motion to realtime pedestrian flows. The ADP control process uses observed flow information only but not the models of pedestrians, and provides feedback control with online learning and control capability. Simulation results demonstrate efficiency of the proposed method.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages815-822
Number of pages8
ISBN (Electronic)9781509037629
DOIs
StatePublished - 28 Nov 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/TerritoryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16

Fingerprint

Dive into the research topics of 'Robot-assisted pedestrian regulation in an exit corridor'. Together they form a unique fingerprint.

Cite this