A Decision Algorithm for Motion Planning of Car-Like Robots in Dynamic Environments. Issue 6 (25th June 2021)

• Record Type: Journal Article
• Authors: Xidias, Elias K.
• Is Part Of: Cybernetics and systems. Volume 52:Issue 6(2021)
• Page Start: 533
• Page End: 552
• Publication Date: 2021-06-25
• Subjects: B-spline curves -- bump-surface -- dynamic environment -- genetic algorithms -- motion planning -- moving obstacles; Cybernetics -- Periodicals; System theory -- Periodicals; 003.5
• DOI: 10.1080/01969722.2021.1909844
• Languages: English
• ISSNs: 0196-9722

Abstract

Abstract: Motion planning in dynamic environments is essential for many applications such as in search and rescue missions and in servicing tasks. In this paper, I present a new approach for motion planning for an autonomous mobile robot which is requested to operate in a dynamic environment. The robot's working environment is cluttered with static obstacles with a priori knowledge of their shapes and positions and with moving obstacles with unknown geometry and motion. In order to ensure a safe motion for the robot I propose a two-stage approach. First, using the Bump-Surface concept I construct a path by considering only the static obstacles of the environment. Then, the robot starts its motion on the given path. When the robot detects a potential danger situation (i.e., collision), a decision algorithm tries to evaluate the risk of collision and simultaneously to find the safest action for the robot. The proposed approach is evaluated in randomly generated simulated scenarios.