抄録
This paper presents sensor-based navigation of wheeled mobile robots in outdoor environment. In order to sense its surrounding environment and own location, the mobile robot is assumed to be equipped with a laser range sensor and GPS. A potential field method is utilized to create force fields around obstacles (repulsion force) and goal (attraction force). Look-ahead control is adopted to steer the mobile robot in which a reference point located in front of the robots is dynamically changed such that the mobile robots able to success fully maneuver among the obstacles and reach the goal. This approach was adopted to participate in Tsukuba Challenge 2010.
