Obstacle avoidance motion planning for mobile robots in a dynamic environment with moving obstacles

Authors:
Chia-Pin Wu;Tsu-Tian Lee;Chau-Ren Tsai
Affiliations:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 106;Department of Electrical Engineering, Oriental Institute of Technology, 58 Sze-chuan Road, Section 2, Pan-Chiao, Taipei, Taiwan 220;Department of Electrical Engineering, Oriental Institute of Technology, 58 Sze-chuan Road, Section 2, Pan-Chiao, Taipei, Taiwan 220
Venue:
Robotica
Year:
1997

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Abstract

A new real-time obstacle avoidance method for mobile robots has been developed. This method, namely the vector-distance function method, permits the detection of obstacles (both moving and stationary) and generates a path that can avoid collisions. The proposed approach expresses the distance information in a vector form. Then the notion of weighting is introduced to describe relationship between sensors of mobile robots and the target to be reached. Furthermore, R-mode, L-mode and T-mode are introduced to generate a safe path for the mobile robot in a dynamic environment filled with both stationary and moving obstacles. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. Simulation results are included to demonstrate the applicability and effectiveness of the developed algorithm.