抄録
In this paper, we study ways to avoid obstacles in case of action of an autonomous robot in a dynamic environment. We considered that a problem of obstacle avoidance result in one of the robustness against environment changes in a motion plan. Supposing that it is able to forecast of a working environment of the future and to plan ahead motion for the future, it is possible that a robot takes action in response to environment changes. As a result, we may hope for an improvement in the robustness of a motion plan.
This study especially take notice of a path of a mobile robot in a motion plan of an autonomous robot. We considered that a transfer from a pattern of environment information to one of plan is a path plan and studied ways to proccess an occupied region pattern of a working environment in parallel. This paper proposes a technique for to forecast of environment changes and to plan ahead motion for the future.
