Abstract
This study developed path planning algorithm that mobile robot moves safety in living environment. In the human living environment, positions of objects and people change frequently. So, Robots need to move with observing environments. But, paths with traditional path planning method have concerns about collision with unobserved object when range of observation is limited. To solve this problem, we have proposed the path planning method. This method can predict change of observable area in planning and avoid robots go into unobserved area. We confirm that Robots can arrive at the destination by using our method in static field. In this paper, we developed our method in order to use the method in dynamic environment.
