Abstract
There are many moving obstacles in RoboCup Middle Size League (MSL). A robot must be able to avoid these obstacles to prevent damage. A path planning algorithm is required. Dynamic window approach is one of the most common path planning algorithms for mobile robots. It produces a path in each control steps that is considered as robot dynamics. However, in Dynamic window approach, centrifugal force is not considered to estimate the trajectory for the robot. In this study, centrifugal force to Dynamic window approach is considered and tested by a simulation. As a result, obstacle avoiding ability without a large amount of centrifugal force is achieved compared to the existing method.
