Abstract
Motion planning in dynamic environments is essential for many applications such as in search and rescue missions and in servicing tasks. In this paper, I present a new approach for motion planning for an autonomous mobile robot which is requested to operate in a dynamic environment. The robot’s working environment is cluttered with static obstacles with a priori knowledge of their shapes and positions and with moving obstacles with unknown geometry and motion. In order to ensure a safe motion for the robot I propose a two-stage approach. First, using the Bump-Surface concept I construct a path by considering only the static obstacles of the environment. Then, the robot starts its motion on the given path. When the robot detects a potential danger situation (i.e., collision), a decision algorithm tries to evaluate the risk of collision and simultaneously to find the safest action for the robot. The proposed approach is evaluated in randomly generated simulated scenarios.
Published Version
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