摘要：In order to operate service robots in a human-robot coexisting environment, smooth motioncontrol that does not give discomfort to the human is important. In this paper, we propose a smooth motioncontrol method that considers human's behavior. The proposed motion control method is based on theDWA (Dynamic Window Approach) which is a widely used obstacle avoidance scheme using theoptimization of several objective functions. Considering human's behavior，an additional objectivefunction for DWA is defined to realize the smooth motion control of the mobile robot.
关键词：Mobile robot;Autonomous Navigation;Motion control;Dynamic windows approach
