Abstract
In order to generate a path for obstacle avoidance, the Laplace potential method has been proposed. This method requires a great deal of calculat ion amount for generating potential. It is difficult to apply this method for the robot that operates in unknown environments because calculation costs for the method must be smaller. In this paper, the authors propose a new method which has small amount of calculation by combining the graph theory and the Laplace potential method. The simulat ion shows several results. First, the end point of the path generated by the proposed method is in the goal coordinate correctly. Second, the calculation time to generate path is smaller than the Laplace potential method. The authors remark that the success rate of path generation and the reduction amount of computational time are in the trade-off.
