Dynamic window based approach to mobile robot motion control in the presence of moving obstacles

Marija Seder, Ivan Petrovic
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper presents a motion control method for mobile robots in partially unknown environments populated with moving obstacles. The proposed method is based on the integration of focused D* search algorithm and dynamic window local obstacle avoidance algorithm with some adaptations that provide efficient avoidance of moving obstacles. The moving obstacles are modelled as moving cells in the occupancy grid map and their motion is predicted by applying a procedure similar to the dynamic window
more » ... proach. The collision points of the robot predicted trajectory and moving cells predicted trajectories form the new fictive obstacles in the environment, which should be avoided. The algorithms are implemented and verified using a Pioneer 3DX mobile robot equipped with laser range finder.
doi:10.1109/robot.2007.363613 dblp:conf/icra/SederP07 fatcat:gukuydcf5fdljjvzwh2njgtnue