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： Recently ， mobile robots likc cleaning robot and seclll ' it ， y robot have been studied ． When sし lch mobile robots are て ，perated ， it ig ． necessa ． ry to generate their tr 亀jectory aut 〔) matically ． Ill recent years， rea ． 1 − tlme generation of a dynarnicて)bg ． t， acle avoidance trajectory is becomes possible by advance of colnpllter ， In this paper ， the system which generates the target trajectory avoiding obstacles

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