[[alternative]]Path Planning for Dynamic Obstacle Avoidance

[[abstract]]本論文所提出的路徑搜尋法目的是為了讓機器人在動態的環境之下，作即時的路徑規劃。而所提出的方法主要是讓機器人在目標及障礙物都處於動態的情況之下，能夠即時的避開障礙物來逼近所追求的目標。經由模擬的結果，證明在各種不同的狀況下，機器人能在避開障礙物的前提之下來逼近所追求的目標。[[abstract]]A mobile robot navigation system that combines a new path planningapproach with fuzzy system is proposed in this paper. The algorithmplans a suitable path in the field, such that the robot can avoidmovable obstacles in real time, and reach the goal from initialposition. First, the temporary target of mobile robot will bedetermined according to the positions of robot and obstacles in thevisional information. Next, a fuzzy controller is designed forcontrolling the mobile robot to approach the temporary target.Finally, the path from initial position to goal is composed of severalsmall temporary sections that are designed by the conditions of mobilerobot and obstacles in real time. Some simulation results areillustrated the effectiveness of the proposed algorithm.[[sponsorship]]淡江大學兩岸學術合作專案小組[[conferencetype]]兩岸[[conferencetkucampus]]淡水校園[[conferencedate]]20010529~20010530[[booktype]]紙本[[iscallforpapers]]Y[[conferencelocation]]臺北市, 臺