UMapを前提とするポテンシャル法による障害物回避

抄録

In recent years, the demand for mobile robots to operate autonomously in various real-world environments has driven significant advancements in obstacle avoidance research. This progress is fueled by advancements in sensor technologies, such as LiDAR, radar, and computer vision, enabling robots to perceive their surroundings with higher accuracy and efficiency. This research project focuses on estimating the robot's position using a cloud-based localization system called UMap and implementing obstacle avoidance via proximity sensors based on the potential field method. The objective is to enable the robot to navigate autonomously with safety and low operating costs, contributing to the ongoing development of robotics technology.