Abstract
Robots are introduced in various environments and places such as offices and homes where we mundanely live. Particularly, one of the most expected functions of home robot is the transportation of objects in a living environment. This paper proposes an algorithm of object transportation under environments with objects. This algorithm is an expansion of the object transportation by dipole field algorithm so that robots can flexibly avoid objects. We compute the midpoints of the triangles that do not contain obstacles. We then use Dijkstra's algorithm to compute a path to move the robot to the object, and then compute a path to allow the robot to push the object to the goal using the dipole field algorithm.
