抄録
Nowadays, we can see the use of mobile robots in various environments close to human life such as offices, hospitals. So it is important to solve the problem of trajectory planning under the environment which has moving objects like human beings. This paper poroposes an algorithm of trajectory plannning conbined potential method and particle control for a mobile robot to avoid moving objects. With this algorithm, a mobile robot can move safely under the continuous dynamic environment that has moving objects.
