2A1-R11 Path planning for obstacle avoidance in local map considering candidate points for passing on specified path(Wheeled Robot / Tracked Vehicle (1))
Takumi Yamashita, Kazuya Okawa, Hideo Kato, Sizuichi HIGUCHI · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
This paper describes a path planning method for obstacle avoidance in local map considering obstacles existing around of the goal of the path planning and follow-up of the specified path for a mobile robot. Distance Transform method is used for the path planning considering follow-up specified path in the local map. And,ever if obstacles exist on the specified path, the goal that is suitable for avoiding the obstacles is searched by arranging candidate points for passing on the specified path.