Path Planning in Consideration of Relative Velocity for Mobile Robot
Ryo Okumura, Hiroshi Takemura, Hiroshi Mizoguchi · ITC-CSCC :International Technical Conference on Circuits Systems, Computers and Communications · 2009
This paper presents an avoidance efficiency improvement of path planning for mobile robot in consideration of the relative velocity of an obstacle. The potential method was used as the method of path planning. The potential method is one of the methods of path planning for mobile robot in unknown area. It creates a contour line figure, such as taking the target position low an obstacle high, based on the information from a LRF sensor. In this potential method, the area which takes the potential of an obstacle into consideration of is called “Interference Area”, and it is very important to select a threshold value. This paper, we focus on the form of Interference Area as a threshold value to select. By selecting the form of this Interference Area aims at efficiency improvement of path planning. We confirmed that the proposed Interference Area shape improves efficiency in path planning.