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In reality, it is necessary to define the accessible area of the robot in an environment which may consist of door entrance, descending stairways and others. In this paper, a method to closely follow the global designated path by setting manually. In this method, the robot moves in a range of velocities and thus being able to avoid obstacle staying closely to the designated path. The results of the experiments verify that this method is able to let the robot move closely to the designated path while avoiding moving obstacle.doi:10.1109/urai.2013.6677324 dblp:conf/urai/YamadaSO13 fatcat:q5qfvsh5kjaezgia6hsstebo3y