抄録
We will propose the online path planning algorithm to navigate an autonomous mobile robot from the 3D data obtained by a laser range finder, without avoiding obstacles in the unknown environment toward the goal from the starting point. The planning path can be expressed as a Bezier curve, considering the direction of the robot, and the position and the direction of the robot can be obtained by a dead reckoning method. Examining the proposed algorithm, it is proved to be very useful for navigation of a mobile robot, and furthermore, the 3-dimensinal map can be easily acquired by a vertical scanning of the laser range finder.
