Proposal of the extended HFM by detection of the room area based on door recognition

Recently, it is expected that a robot plays an active part in living space where a person lives. When the robot moves in dynamic environments, the robot has to achieve the path planning that considers human movements so as to care about the person. In this research, the human's walking route is observed to generate the route for the robot automatically, assuming that sensors are distributed in the environmental side. Then, we extend “Human Frequency Map (HFM)” to handle the recognition of a door. The extended HFM can reflect the human movements to the path planning by considering the human motion trend more than the existing HFM.