Mobile Robots Path Planning Method with the Existence of Moving Obstacles

摘要

In near future, autonomous robots will be used in factories and offices. Since there are many stationary/moving obstacles in these environments, autonomous robots are require to make the path plans that can avoid moving objects such as people and robots. In this paper, we propose the path planning method to avoid the collisions with these obstacles. The proposed method consists of two planning steps. In the first step, we can get "the global static path" that is determined based on the location map of the stationary obstacles. Then, in the second step, the static path is modified to "the dynamic local path" using a potential field of repulsion and attraction forces. Using our method we get rid of the parallel run phenomenon that is caused by the traditional potential method. Finally, we evaluated the method using practical robot.