Safe mobile robot motion planning for waypoint sequences in a dynamic environment

摘要: Safe and efficient path planning for mobile robots in dynamic environments is still a challenging research topic. Most approaches use separate algorithms global local obstacle avoidance. Furthermore, sequence of goals mostly done by to each next goal individually. These two strategies generally result sub-optimal navigation strategies. In this paper, we present an algorithm which addresses these problems single combined approach. For purpose, model the static risk environment consistent way propose novel graph structure based on state × time lattice with hybrid dimensionality. It allows joint multiple while incorporating collision due obstacles. computes solutions are part trajectory path. Finally, provide some results our action prove its high quality real-time capability.