Obstacle avoidance is one of the most important parts of autonomous mobile robot. In this study, we proposed safe and efficient local path planning of robot for obstacle avoidance. The proposed method detects and tracks obstacles using the 3D depth information of an RGB-D sensor for path prediction. Based on the tracked information of obstacles, the paths of the obstacles are predicted with probability circle-based spatial search (PCSS) method and Gaussian modeling is performed to reduce uncertainty and to create the cost function of caution. The possibility of collision with the robot is considered through the predicted path of the obstacles, and a local path is generated. This enables safe and efficient navigation of the robot. The results in various experiments show that the proposed method enables robots to navigate safely and effectively.

Abstract
 1. 서 론
 2. 장애물 감지 및 추적
  2.1 장애물 감지
  2.2 장애물 추적
 3. 장애물의 경로 예측
  3.1 경로 예측
  3.2 주의비용의 생성
  3.3 안전 지역경로 계획
 4. 실 험
  4.1 PCSS를 이용한 예측경로 검증
  4.2 주의비용을 포함한 경로계획 실험
  4.3 안전성과 효율성에 대한 실험
 5. 결 론
 References

• 문지영(Mechanical Engineering, Korea University, Seoul, Korea) | Ji-Young Moon
• 채희원(Mechanical Engineering, Korea University, Seoul, Korea) | Hee-Won Chae
• 송재복(Mechanical Engineering, Korea University) | Jae-Bok Song Corresponding author