2P2-D06 実機でのPF法を用いた車輪型自律移動ロボットのナビゲーション(車輪移動ロボット)

抄録

The navigation task is applied to the potential function that we propose and it verifies it by the simulation. And, the domination of this method is shown compared with other method.Moreover, the thing that retreated by changing the operational expression of the potential function became possible.As a result, it comes to be able to innovate the sensor that was not able to be used in a current specification. However, the influence on the navigation according to the introduction of the action decision is uncertain. Therefore, the influence on the navigation by having increased state newly as give the evasive action width by backdown and can do the best action is verified.