2P1-E26 Trajectory Planning Algorithm for a Mobile Robot to Avoid Moving Obstacles
Ryoko NIIHARA, Takayuki Inoue, Hajime IMAMURA, Yuta Kojima, Nobuyuki Yamasaki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2010
Nowadays, we can see the use of mobile robots in various environments close to human life such as offices, hospitals. So it is important to solve the problem of trajectory planning under the environment which has moving objects like human beings. This paper poroposes an algorithm of trajectory plannning conbined potential method and particle control for a mobile robot to avoid moving objects. With this algorithm, a mobile robot can move safely under the continuous dynamic environment that has moving objects.