Development of Autonomous Mobile Robot for Obstacle Avoidance
Masafumi Uchida*, Syuichi Yokoyama** and Hideto Ide*
*Faculty of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan
**Faculty of Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo, 163-91 Japan
The potential method is superior for solving the problem of motion planning; however, it must address the problem of the real-time generation of potential field. Obstacle avoidance is a motion planning problem. In a previous study, we investigated the real-time generation of potential field. Based on parallel processing with element group, we proposed the system by Sensory Point Moving (SPM) method. As a result of computer simulation, it was confirmed that the SPM method is effective for generating an obstacle avoidance path in 2-D and a more complex working environment like a 3-D one. In this paper, we discuss the development of autonomous mobile robot for obstacle avoidance based on the SPM method.
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