Abstract
In this paper, we proposed an autonomous mobile robot system for dynamical environment. The robot system consists of two layers. The one, high-frequently and periodically, generates a trajectory avoiding obstacles by local information from sensors equipped on the robot. The other layer plans and renews avoiding path with global information. We show that the robot system was able to arrive at a goal in dynamical environment with obstacles: a near moving obstacle and moving obstacles in robot's blind spot.
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More From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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