Motion Planning of Multiple Mobile Robots Based on Artificial Potential for Human Behavior and Robot Congestion

In order for robots to exist together with humans, safety for humans has to be ensured. On the other hand, safety might decrease working efficiency of robots. Namely, this is a trade-off problem between the human safety and robot efficiency in a field of human-robot interaction. For this problem, we propose a novel motion planning technique of multiple mobile robots. Two artificial potentials are presented for generating repulsive force. A behavior potential is provided for humans. A congestion potential is provided for robots. Through simulation experiments, the effectiveness of the behavior and congestion potentials used in the motion planning technique for the human safety and robot efficiency is discussed. Moreover, a sensing system for humans in a real environment is developed. Finally, the significance of the potential generated from the actual human behavior is discussed.