Motion planning of obstacle avoidance based on guide style for autonomous mobile robot

When a certain task exists, it is often performed by a method corresponding to the situation and the purpose from various requirements. Although there are many researches on motion planning for obstacle avoidance, there are only few researches investigated about the technique of preparing two or more motion plans corresponding to the situation and the purpose. In this study, the method which can easily describe various guidance styles is introduced, and the system which realizes the motion planning for obstacle avoidance based on the guidance style is constructed.