Simulation modeling of pedestrian behavior in the presence of unmanned mobile robots

摘要: Abstract Interactions between pedestrians and robots are becoming more commonplace. In public areas, for example, may be used information dissemination, security, or patrol tasks. Based upon existing literature in the field of human-robot interaction, ISAPT simulation system was revised to model individual pedestrian behavior presence a mobile robot. Using an agent-based modeling approach, statistically assigned one six reported behaviors when robot is encountered: interact, watch, curious, ignore, cautious, avoid. The methods incorporating these include modifying pedestrian's agenda and/or their perception threat represented by non-humanoid robot, while continues make navigation decisions based on overall utility function. This paper discusses implementation this capability presents results ISAPT's ability reproduce different literature. Data collected study further validate comparing measures from observed output. Validation included lateral distance path deviation. These illustrate approach effective means adding microsimulation systems.