Dynamic Walking Corridor Generation for Visually Impaired Navigation Using Social Force Models and Convex Optimization
Qingquan Na, Hui Zhou, Zhenyu Fu, Li Yang, Antonio Frisoli
Abstract
This paper presents a dynamic walking corridor generation (DWCG) algorithm designed to enhance navigation safety for visually impaired individuals in crowded pedestrian environments. Current physical human-robot interaction (pHRI) systems struggle with random pedestrian movements and interaction disturbances in such settings. To address these limitations, we propose a safety-critical framework that integrates Safe Flight Corridor concepts with pedestrian dynamics modeling. The method constructs time-varying Safe Walking Corridors (SWCs) through convex polyhedra decomposition, constrained by social force model predictions. Simulation experiments demonstrate a 100% success rate in moderate crowds (50 pedestrians or fewer) with 10.1 ms average computation time, and 86.3% success in high-density environments (100 pedestrians), establishing a foundation for reliable assistive navigation systems in complex urban settings.
BibTeX
@inproceedings{iros2025_dynamicwalkingco,
title = {Dynamic Walking Corridor Generation for Visually Impaired Navigation Using Social Force Models and Convex Optimization},
author = {Qingquan Na and Hui Zhou and Zhenyu Fu and Li Yang and Antonio Frisoli},
booktitle = {IROS 2025},
year = {2025}
}