Dynamic Obstacle Avoidance of Autonomous Mobile Robot Based on Probabilistic Potential Field

Katsura Seiichiro, Ohnishi Kouhei

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

In order to share environment with human for a mobile robot, it is necessary to avoid dynamic obstacles like human. Then, in this paper, an avoidance of an obstacle which governed by probabilistic equation, is realized. The paper proposes the probabilistic potential field adopted in the trajectory planning. It is possible to take a sudden change of an environment into account in the proposed method by assigning priority to the latest data. The numerical and experimental results show viability of the proposed method.

Original languageEnglish
Pages (from-to)1284-1290
Number of pages7
Journalieej transactions on industry applications
Volume121
Issue number12
DOIs
Publication statusPublished - 2001 Jan 1

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Keywords

  • Autonomous Mobile Robot
  • Obstacle Avoidance
  • Potential Field

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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