Collision-free path planning method for mobile robot

摘要

In near future, autonomous robots will be used in factories and offices. Since there are many stationary and moving obstacles in these environments, autonomous robots are require to make the path plans that can avoid moving objects e.g. people and robots. In this paper, we propose the path-planning method to avoid the collision 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.