Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
In this paper, we present an improved motion planning algorithm for mobile robots operating in indoor environments. Collision free robot motion planning in obstacle rich environment is crucial for the safety of the robot and for other agents or people in the vicinity. There are a plenty of motion planning algorithms that have been proposed in the past. In this particular work, we present a local planning scheme that allos the robot to overcome static and dynamic obstacles in the path with high success rate. Our proposed reactive planning algorithm uses a potential field for generating a collision-free paths for the robot. The proposed algorithm can overcome some of the challenges of a deadlock situation of traditional planning and guarantee successful navigation for robots.
