• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.19-24
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• 2011

This paper presents a method about amorphous obstacles avoidance for local path planning in the two-dimensional sensor environment. In particular, the proposed method is extended from some of the recent studies about a point obstacle avoidance. In the paper, repulsive forces of two types are proposed in order that the robot avoids from the amorphous obstacle with various size and form. A judgment of curvatures in the proposed method simplifies the recognition of obstacles to make the path-planning efficient. In addition, the line of sight(LOS) and the range of recognition are considered in the environment. By simulation results, the proposed method for amorphous obstacle avoidance shows better performance than the related existing method and we confirmed advantages of proposed method.