A Novel Approach for Mobile Robot Navigation with Dynamic Obstacles Avoidance

Authors:
Salim Belkhous;Adel Azzouz;Maarouf Saad;Chahé Nerguizian;Vahé Nerguizian
Affiliations:
Ecole Polytechnique de Montréal, Montreal, Canada H3T1J4;Ecole Polytechnique de Montréal, Montreal, Canada H3T1J4;École de Technologie Supérieure, Montreal, Canada H3ClK3;Ecole Polytechnique de Montréal, Montreal, Canada H3T1J4;École de Technologie Supérieure, Montreal, Canada H3ClK3
Venue:
Journal of Intelligent and Robotic Systems
Year:
2005

Citing 3
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Abstract

This paper proposes a new approach for trajectory optimization of a mobile robot in a general dynamic environment. The new method combines the static and dynamic modes of trajectory planning to provide an algorithm that gives fast and optimal solutions for static environments, and generates a new path when an unexpected situation occurs. The particularity of the method is in the representation of the static environment in a judicious way facilitating the path planning and reducing the processing time. Moreover, when an unexpected obstacle blocks the robot trajectory, the method uses the robot sensors to detect the obstacle, finds a best way to circumvent it and then resumes its path toward the desired destination. Experimental results showed the effectiveness of the proposed approach.