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Robot Guided Crowd Evacuation
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DOI：10.1109/TASE.2014.2323175.png)
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Abstract
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The congregation of crowd undoubtedly constitutes an important risk factor, which may endanger the safety of the gathered people. The solution reported against this significant threat to citizens safety is to consider careful planning and measures. Thereupon, in this paper, we address the crowd evacuation problem by suggesting an innovative technological solution, namely, the use of mobile robot agents. The contribution of the proposed evacuation system is twofold: (i) it proposes an accurate Cellular Automaton simulation model capable of assessing the human behavior during emergency situations and (ii) it takes advantage of the simulation output to provide sufficient information to the mobile robotic guide, which in turn approaches and redirects a group of people towards a less congestive exit at a time. A custom-made mobile robotic platform was accordingly designed and developed. Last, the performance of the proposed robot guided evacuation model has been examined in real-world scenarios exhibiting significant performance improvement during the crucial first response time window. Note to Practitioners-This paper is motivated by the problem of evacuating people from indoor to outdoor environments. Existing models study the behavior of the evacuating crowd either in a microscopic or a macroscopic way and provide means for actuation on the evacuees by sound or visual signals, to avoid clogging at certain exits. This paper suggests a novel approach using a mobile robot to attract the attention of evacuees heading towards saturated exits and guide them to less blocked ones, thus ensuring a faster and safer area clearance, reducing the bottleneck effect usually observed in front of the exits. Comparative studies prove the efficiency of the proposed method which can improve the overall evacuation saving crucial response time in the emergency situations. In future research, we will address the problem of coordinating multiple robots for the evacuation of masses in big auditoriums or stadiums.
Keywords:
Cellular automata (CA)
evacuation models
Robot guidance
safety
simultaneously localization and mapping (SLAM)
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