Abstract
This paper describes the methodology of getting the environmental information and path designing for independent moving of mobile robot. The obtained information of obstacles and others by range sensors of mobile robot is treated as the altitude of the potential value. The environmental map is interpolated with the distributed samples' potential value with Kriging. Kriging is one of the spatial data modeling method used mainly in Geostatistics and has impressive ability at spatial interpolation. The path is designed by Potential field method and the method based Traveling Salesman Problem applied Genetic Algorithm. The potency of this proposed method has been verified by simulations.
