PROBLEM TO BE SOLVED: To provide, through the present application, a method of and a system for guiding a mobile robot in a crowded environment with pedestrians based on a trained navigation model.;SOLUTION: A trained navigation model receives measured data for specifying pedestrians in the vicinity, velocity of each pedestrian relative to a mobile robot, a current position of the mobile robot in an environment crowded with the pedestrians, and a desired target position. The trained navigation model generates a command signal for use in adjustment of the velocity by the mobile robot based on these pieces of information. By repeatedly sampling the velocity and the current position of the surrounding pedestrians, the navigation model leads the mobile robot to the target position with minimizing breakage of traffic of the pedestrians. The navigation model traces movement of the activity trainer passing through the environment crowded with the pedestrians, thereby being trained so as to simulate preferable walking of a pedestrian in the environment crowded with pedestrians.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2019,JPO&INPIT
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