抄録
Recently, mobile robots like cleaning robot and security robot have been studied. When such mobile robots are operated, it is necessary to generate their trajectory automatically. In recent years, real-time generation of a dynamic obstacle avoidance trajectory is becomes possible by advance of computer. In this paper, the system which generates the target trajectory avoiding obstacles in the indoor environment automatically by the real-time optimization is constructed. The effectiveness of the proposed system is verified through the experimental system using the omni-directional robot.
