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.
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