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This paper studies the problem of obstacle avoidance for mobile robots using pure pursuit path tracking algorithms. A conventional approach such as articial potential eld methods often leads to sudden... changes in the robot's motion. This is because the repelling force is applied to the robot itself. In this paper, we propose a method to achieve smooth obstacle avoidance by shifting the "lookahead point" for the robot to pursue when detecting an obstacle. We introduce two ways for moving the lookahead point. Numerical examples show that the proposed method effectively suppresses the robot's angular acceleration.続きを見る
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