Development of autonomous mobile robot for obstacles avoidance

This research has addresses the realization of real-time path plan of large area obstacle avoidance based on the potential method. The reports thus far have addresses the method or generating the potential field independent of the complexity of environment and have proposed the Sensory Point Moving (SPM) method as the technique for speeding up the shift to the potential field from the environment based on a parallel algorithm. Additionally, it is possible that the present technique makes the motion plan system simple and small-scale. The present technique was applied to the path plan of a fabricated mobile robot, and its effectiveness was confirmed, which is discussed in this report