Motion Control of An Autonomous Mobile Robot Considering Object Properties

In this study, we estimate the state of object properties, define the concept of a cost map, and propose a method for motion control for autonomous mobile robots that is considerate to people around. A cost map is a map that expresses the level of risk of an area in stages. The robot will try to avoid entering the risk areas without disturbing the people around unless there is no choice to get to the destination. The robot will communicate with the people to make them feel better. The effectiveness of the proposed method is shown through actual experiments.