Abstract | ||
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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. |
Year | DOI | Venue |
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2021 | 10.1080/01969722.2021.1909844 | CYBERNETICS AND SYSTEMS |
Keywords | DocType | Volume |
B-spline curves, bump-surface, dynamic environment, genetic algorithms, motion planning, moving obstacles | Journal | 52 |
Issue | ISSN | Citations |
6 | 0196-9722 | 0 |
PageRank | References | Authors |
0.34 | 0 | 1 |
Name | Order | Citations | PageRank |
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Elias k. Xidias | 1 | 53 | 7.16 |