In this paper, we propose a new robot motion planning method for moving obstacle avoidance. To consider the mobility of a moving obstacle, we define virtual distance function(VDF) between the robot and the obstacle. At each sampling time, we construct...
In this paper, we propose a new robot motion planning method for moving obstacle avoidance. To consider the mobility of a moving obstacle, we define virtual distance function(VDF) between the robot and the obstacle. At each sampling time, we construct an artificial potential using the VDF. The robot moves according to the repulsive and attractive force induced by the artificial potential. The suggested algorithm drives the robot to avoid moving obstacles in real time. Some simulation studies show the effectiveness of the proposed method.