Author:
Ueno Kentaro, ,Kinoshita Tetsuo,Kobayashi Kazuyuki,Watanabe Kajiro
Abstract
<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/08.jpg"" width=""340"" />
Proposed path-planning result</div> In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
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