Abstract
This paper presents a new moving control method about obstacle avoidance problem with prediction time for autonomous omni-directional mobile robot. This method is based on the virtual potential approach and a modified repulsive potential function is proposed. In the method, to avoid obstacles efficiently, the repulsive force is generated by considering the velocity of the obstacle relative to the robot and the prediction time. To verify the effectiveness of the proposed method, the experiments using a robot were carried out. From the results, it was confirmed that the variety of behavior is generated by adjusting the prediction time.
