Smooth Path Planning with Pedestrian Avoidance for Wheeled Robots
Yumiko Suzuki*,**, Simon Thompson**, and Satoshi Kagami*,**
*Digital Human Research Center, National Institute of Advanced Science and Technology
**Graduate School of Information Science, Nara Institute of Science and Technology
In studying smooth robot path planning with predesigned steering sets including three trajectory types, path planning with a steering set was used to generate trajectories with smooth directional changes. To put path planning to practical use in dynamic environments, robots must be more quickly motion and efficiently, without, for example, endangering pedestrians. Assuming that the trajectories of moving obstacles are predictable, smooth path planning worked in the presence ofmoving obstacles. We defined new path evaluation method suitable for wheeled robots, evaluating our planner experimentally in an office, confirmed the efficiency of our planning.
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