JRM Vol.27 No.3 pp. 286-292
doi: 10.20965/jrm.2015.p0286


Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot

Kentaro Ueno, Tetsuo Kinoshita, Kazuyuki Kobayashi, and Kajiro Watanabe

Graduate School of Science and Engineering, Hosei University
3-7-2 Kajino-cho, Koganei, Tokyo 184-8584, Japan

December 1, 2014
May 7, 2015
June 20, 2015
switching, path planning, potential path planning

Proposed path-planning result

In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.

Cite this article as:
K. Ueno, T. Kinoshita, K. Kobayashi, and K. Watanabe, “Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot,” J. Robot. Mechatron., Vol.27, No.3, pp. 286-292, 2015.
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