抄録
This paper presents sensor-based navigation of wheeled mobile robot in outdoor environment. In order to sense its surrounding environment and own location, the mobile robot is assumed to be equipped with a laser range finder and GPS. A potential field method is utilized to create force fields around ob stacles (repulsive force) and goal (attractive force). Look-ahead control is ad opted to steer the mobile robot in which a reference point located in front of the robot is dynamically changed such that the mobile robot is able to success fully maneuver among the obstacles and reach the goal. This approach was adopted to participate in Tsukuba Challenge 2009.
