TY - JOUR
T1 - Dynamic Obstacle Avoidance of Autonomous Mobile Robot Based on Probabilistic Potential Field
AU - Seiichiro, Katsura
AU - Kouhei, Ohnishi
PY - 2001
Y1 - 2001
N2 - 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.
AB - 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.
KW - Autonomous Mobile Robot
KW - Obstacle Avoidance
KW - Potential Field
UR - http://www.scopus.com/inward/record.url?scp=0012612193&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0012612193&partnerID=8YFLogxK
U2 - 10.1541/ieejias.121.1284
DO - 10.1541/ieejias.121.1284
M3 - Article
AN - SCOPUS:0012612193
SN - 0913-6339
VL - 121
SP - 1284
EP - 1290
JO - ieej transactions on industry applications
JF - ieej transactions on industry applications
IS - 12
ER -