A*とORCAアルゴリズムを用いた移動ロボットの障害物回避

―Unity環境での開発―

抄録

This paper proposes a path planning method integrating the A* and ORCA algorithms to enhance the obstacle avoidance capabilities of autonomous mobile robots. It implements efficient path planning around static obstacles using the A* algorithm and avoids collisions with moving obstacles through the application of the ORCA algorithm. We have developed a system that performs path planning using these algorithms, utilizing Unity for development. The system employs Laser Range Scanner to detect real-world obstacles, incorporating this data into the simulation for path planning. Our aim is to evaluate the system's effectiveness through both simulations in Unity and real-world robot experiments.