2P1-F02 ポテンシャル法における連続斥力ベクトル生成アルゴリズムの提案

概要

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We developed a guidance robot "NWR001" that can control intuitively. An obstacle avoidance feature based on the potential field approach was added this time. The potential field approach was used for generating a path that avoids obstacles. However, that method has some issues, those are concave shape obstacles and contiguous obstacles. This paper proposed a new method that generates a continuous change of force direction by dividing a potential field in to a positive and a negative axes and combine both maximum values. Our method can apply to the point cloud data such as scanning laser or range image sensor.
一般社団法人日本機械学会の論文