抄録
This paper describe a method for avoiding obstacles using SOKUIKI sensors. Free space is defined by data of SOKUIKI sensor. Positions of obstacle are detected by shape of the free space. Velocity of obstacle is estimated from the positions of obstacle. This method can also estimate velocity of walking people. By the shape of free space and the velocity of obstacle, we define evaluation values that reflect safety for each direction. Then, we decide the target direction and target speed from the evaluation values. Robot can chose safety route and safety speed.
