動的環境を考慮した移動ロボットの経路計画

抄録

An autonomous mobile robot in a dynamic environment needs to avoid static obstacles and also needs to perform path planning while considering dynamic obstacles. In this paper, a path planning method is proposed for avoiding encounters with moving objects by incorporating an abundance map that represents the possibility of existence of previously observed moving objects. The proposed method can generate a path that avoids areas with high human traffic, which reduces the probability of obstacle encounters and path re-planning. Results of the evaluation experiment indicate that compared to conventional method, the proposed method can generate a shorter path in a dynamic environment having high human traffic.