Robot navigation in dynamic environment using Navigation function APF with SLAM

摘要

This paper proposes a technique for navigation of a watch over robot in a dynamic environment. In order to make an environmental map around the robot, the localization of robot and the orbit generation to move avoiding the moving obstacles are required in a dynamics environment. In this study the localization of robot and the environmental map are obtained by using Simultaneous Localization and Mapping (SLAM) which makes the map by using LRF with characteristic markers. The orbit generation to avoid the moving obstacles is executed by using Navigation function that is a type of Artificial Potential Field (APF) method. The generation of an environmental map was simulated by using SLAM on the topology space. It was verified whether a robot using APF was possible to move avoiding the moving obstacles in a dynamic environment through the simulation.