Path planning and a mobile robot navigation method based on a human frequency map

Under the assumption that sensors are distributed in the environmental side to measure human movement in a term, such as a couple of days, we first propose a human frequency map (HFM), which is a grid map based on the observed human position and frequency in the term. Then, using such an HFM and the distributed sensor data, the possibility of encountering human and the width of passage in addition to the current position of human are taken into account in our new path planning method. The usefulness of the proposed path planning approach is demonstrated through simulations in dynamic environments, as well as actual experiments to show the realization of safe robot navigation.