自律走行ロボットにおける渦場を用いた障害物回避運動

抄録

One method for obstacle avoidance motion is the potential field method, which determines a robot's movement speed and direction by assigning virtual potential fields to the target location and obstacles. Studies on the potential field method have been conducted extensively, with many defining the attractive and repulsive potential fields as spreading in a circular pattern. However, in our sequentially generated path using a circular potential field, when an obstacle appeared near the robot's side unrelated to the direction of travel, the robot generates a large avoidance maneuver, resulting in unstable movement in narrow passages, for example. In this study, we developed a system for sequentially generating paths using an vortex field spreading, with the aim of obstacle avoidance for autonomous mobile robots with preset waypoints. We also compared the obstacle avoidance motion in sequential path generation using the circular potential field, the elliptic potential field, and the vortex field.