Abstract
We compared real time obstacle avoidance algorithm which is using an approach sensor. We made Khatib's artificial potential approach and Kamoi's CPFS algorithm the comparative subject. We compared the collision number of times and arrival time based on each algorithm in the various operational environment. As a result, the potential approach generated a process at high speed by the simple operational society. On the other hand the CPFS algorithm could find a solution in an environment that a robot is surrounded. And also, an obstacle avoidance experiment was made by an experimental robot equipped with proximity sensors. As a result of the experiment, the same result was obtained mostly with a simulation experiment.
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