Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and Their Velocities
Takashi Tsubouchi*, Tomohide Naniwa** and Suguru Arimoto***
* Institute of Information Science and Electronics, University of Tsukuba, Tsukuba, lbaraki, 305 Japan
** Faculty of Engineering, Yamaguchi University, 2557, Tokiwadai, Ube, Yamaguchi, 755 Japan
*** Faculty of Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113 Japan
This paper presents a navigation scheme for a mobile robot which works even in an environment with multiple moving obstacles. An “iterated forecast and planning” approach is proposed by the authors. It is assumed that each obstacle moves at a constant velocity in the approach. The most feasible path for a robot is planned in (x,y,t) space. The planning and motion execution according to the plan are iterated frequently to cope with changes of motion of the moving obstacles. The behavior of the proposed navigation algorithm is also presented by means of computer simulations.