人工ポテンシャルを利用した回避経路による2輪移動ロボットの障害物回避制御法

抄録

This paper uses the potential function to propose an obstacle avoidance method for a two-wheeled mobile robot with an artificial potential field and the PurePursuit. The proposed control is that the robot's path is planned by referring to its posture changes, escaping from a local minimum point. The efficiency of our proposed method is demonstrated in a numerical simulation and experiments by an experimental robot.