Abstract
This paper deals with a trajectory planning problem of a wheeled mobile robot under an obstracted environment where the robot is encountered with unforeseen obstacles and required to take a maneuvering motion. The robot is equipped with various sensors including soners, a laser range finder and a video camera. The robot creates a potential field on the fly when being encountered with a obstacle in order to generate a maneuvering motion. Also it will automatically detect occurrence of dead-lock situation and take an appropriate action to resolve the situation. In addition, the laser range finder is utilized to obtain extra information such as a sudden change of the ground continuity.
