Trajectory planning for mobile robots in a dynamic environment

Abstract

An algorithm is presented for pat,h planning i n dynamic environment where not only obst,acles are moving but also goal of mobile robot. The basic idea of t,liis algorithm is to introduce the Euclidean distance as a value for each cell in the discretized workspace. The moving olxtaclcs are represented by a time varying set of cells whose values are multiplied by a factor greater than unit,y representing t,he virtual distance. Then collision-free t,raject.ory is calcrilatrd by finding the lowest value of the eight. iieighhour cells. This algorithm can easily work when mobile robot, objective is moving even in the presence of a complex environment,. and can also be extended to patali planning i n t h e e dimensions. Finally, the usefulness of this algoritlirn is shown by several simulation results.