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W851394841 abstract "<div class=abs_img> <img src=[disp_template_path]/JRM/abst-image/00270003/08.jpg width=340 /> Proposed path-planning result</div> In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments." @default.
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W851394841 date "2015-06-20" @default.
W851394841 modified "2023-09-27" @default.
W851394841 title "Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot" @default.
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W851394841 doi "https://doi.org/10.20965/jrm.2015.p0286" @default.
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