This paper describes human movement trajectory prediction for mobile robot's path planning in human coexistence environment. The lean path planning is necessary for the safety (collision avoidance etc.) in human coexistence environment. In this research, we predict future human movement trajectory based on an environmental figuration and the flow of people. From the result of human movement prediction, we plan the mobile robot path which avoids a human future trajectory. By this way, we will realize the mobile robot's autonomous running which does not give circumjacent people a feeling of strangeness. From the data pertaining to human movements which was acquired in public spaces (Tsukuba special robot zone etc.), we consider about the knowledge for human movement prediction.
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