포텐셜 함수를 이용한 자율주행 로봇의 장애물 회피에 관한 연구

Obstacle Avoidance Technique of the Autonomous Mobile Robot using Potential Function

Recently, the ability of sensing obstacles by oneself and creating suitable moving path in mobile robots are required to provide various kinds automation services. Therefore, in this paper, we studied the avoidance behavior of mobile robots from dynamic obstacles using potential function that minimizes distance and time. We examined the performance of the proposed algorithm by comparing the method of based on the geometrical experience in simulations.