Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance against Approaching Pedestrians

Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance against Approaching Pedestrians | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance against Approaching Pedestrians Motonobu Omori, Hiroshi Yoshitake, Motoki Shino This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3825758/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract There are high expectations for autonomous personal mobility vehicles (PMVs) to support the mobility of older people. Autonomous navigation systems are being developed to assist mobility in public areas with mixed pedestrian traffic, such as airports and shopping malls. For autonomous navigation of PMVs, achieving both efficiency and comfort is important. In this study, we focused on the characteristic of passenger tolerance, in which a passenger’s discomfort is relatively small concerning an approaching pedestrian. The objective was to propose an efficient and comfortable autonomous navigation method considering the characteristics of passenger tolerance. First, the passenger tolerance characteristics were clarified through data analysis of a previous study’s dataset and a newly collected dataset. Next, a path planning method considering the characteristics was proposed, and the proposed method was evaluated by numerical simulations. The evaluation results showed that the proposed method can achieve efficient and comfortable autonomous navigation, especially in crowded environments. Personal mobility vehicle Autonomous navigation Path planning Tolerance Passenger characteristics. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3825758","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":264876395,"identity":"6da96c49-f2bc-4ed5-9f5d-9a87d334264e","order_by":0,"name":"Motonobu Omori","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABAElEQVRIiWNgGAWjYNACAxsGhgMMzBAOD1SQsQGvljS4FgkitTAcxqIFF9Bt7058XFFwXo7vRgKzAWMbQx0/zxnDBww1dgzMs7FbY3bm7GbDMwa3jSWBWhKAWiQke3uMDRiOJTMwzjmAXcuN3G2SDQa3EzcAtRxgbPsvYXCex0yCge0AA+OMBHxaztVDtTBAtfwjqOVAggHMYQZne8wkGNvwaAH5pcEg2XDmmYfNBgnnGCRn9hwrNkjsS+bB6ZfjvRsfNvyxk+c7nnxY4kMZAz8/T/LGBx++2ckZ4ggxJACMOohLOAxADB7DGYR0IAD7AzAlL0G8llEwCkbBKBjWAAC8Z1wPkGAkJwAAAABJRU5ErkJggg==","orcid":"","institution":"University of Tokyo","correspondingAuthor":true,"prefix":"","firstName":"Motonobu","middleName":"","lastName":"Omori","suffix":""},{"id":264876396,"identity":"cf248b1f-d389-4a84-927d-6541ecc7f55e","order_by":1,"name":"Hiroshi Yoshitake","email":"","orcid":"","institution":"University of Tokyo","correspondingAuthor":false,"prefix":"","firstName":"Hiroshi","middleName":"","lastName":"Yoshitake","suffix":""},{"id":264876397,"identity":"47c3beab-fd24-4d42-83df-3ae55a174a20","order_by":2,"name":"Motoki Shino","email":"","orcid":"","institution":"Tokyo Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Motoki","middleName":"","lastName":"Shino","suffix":""}],"badges":[],"createdAt":"2023-12-31 11:59:31","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3825758/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3825758/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":59693126,"identity":"adf35ad0-f9c3-4c7f-b54c-b6bb55da530e","added_by":"auto","created_at":"2024-07-05 02:01:33","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1190407,"visible":true,"origin":"","legend":"","description":"","filename":"ROBOMECHJournalOmori.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3825758/v1_covered_0953ea67-71cf-4bec-878d-a5800394ccaa.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Autonomous Navigation for Personal Mobility Vehicles Considering Passenger Tolerance against Approaching Pedestrians","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Personal mobility vehicle, Autonomous navigation, Path planning, Tolerance, Passenger characteristics.","lastPublishedDoi":"10.21203/rs.3.rs-3825758/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3825758/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThere are high expectations for autonomous personal mobility vehicles (PMVs) to support the mobility of older people. 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