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Autonomous Mobile Robot Movement Algorithm with Human Collision Avoidance Perception

Authors:
Kazuhisa Miwa
Tomoki Osaki
Yuki Ninomiya
Minoru Karasawa
Hitoshi Terai

Keywords: Autonomous mobile robot; Social force model; Collision predictive avoidance algorithm.

Abstract:
In shared spaces, Autonomous Mobile Robots (AMRs) must efficiently reach their goals while remaining physically safe and psychologically nonthreatening. Conventional Social Force Model (SFM) control uses distance-based repulsion and can underestimate future collision risk, which worsens the safety-efficiency tradeoff at higher speeds. We propose a collision-predictive SFM that weighs repulsion based on the anticipated risk of collision at the closest approach, as determined by distance and time. This is mapped through a braking-indicator probability. Simulations compared random, crossing, and straight flows across desired AMR speeds. The method kept close encounters low while shortening completion time in the Straight flow.

Pages: 84 to 88

Copyright: Copyright (c) IARIA, 2026

Publication date: May 24, 2026

Published in: conference

ISSN: 2308-4138

ISBN: 978-1-68558-383-5

Location: Venice, Italy

Dates: from May 24, 2026 to May 28, 2026