Mobile robot navigation using modified flexible vector field approach with laser range finder and IR sensor

摘要

In the public space, a mobile robot is adopted as a guider. For guiding a person to the goal position, the mobile robot should make the safe path, avoid the obstacles and navigate the generated path well. In general, Laser Range Finder is used for the detection of the map around the mobile robot. We propose mobile robot navigation method using our developed a Modified Flexible Vector Field Approach with Laser Range Finder and IR sensor which is used for detecting the emergency status because it has higher response frequency than that of LRF. We will verify that our proposed control scheme and obstacle avoidance algorithm are useful enough to apply to the mobile robot control in the public space by showing experimental results.