移動障害物を含むような動的変化を伴う走行環境における自律移動ロボットの走行誘導方式

Abstract

In this paper, we present a sensor-based navigation method for an autonomous mobile robot in dynamically changing environment with stationary and moving obstacles. A navigation task needs to navigate the robot to a destination along a predefined path, and avoids obstacles if necessary. However, the environments is always changing, and sensory information is quite limited (actually, we have many limitations of sensory processing towards a dynamically changing environment) . We have to describe an efficient navigation manner onto the robot using simple sensory information. The first step of our approach was a use of fuzzy control. Based upon results of experiments, we propose a new navigation method for an autonomous mobile robot in a dynamically changing environment. It determines a steering angle and a velocity to send to low-level locomotion system. There are two major parts in it : one is a tracing planned path task, and the other is an avoiding obstacle task. The distribution weight between their outputs is determined with a range data and differential range data between samplings.