Abstract
Mobile robots must be aware of the surrounding environment by the sensor. The robot cannot avoid a collision with a walker that appears suddenly from occluded area of vision sensor. In order to solve this problem, we calculate the occluded area and control the speed of mobile robot with the measurement results by LRF. The difference in vision depending on the movement path also affects the speed control. Quality of the routes, such as the shortest route, detour routes, and so on will be evaluated.
