Movement strategies selection of a mobile robot to avoid obstacles

Abstract

The movement of a mobile robot in a non-deterministic environment is accompanied by maneuvering due to the need to avoid a collision with a fixed or moving obstacle. Under certain conditions, several obstacles, including moving ones, may appear in the near zone of the robot. In this case, trajectory-planning algorithms based on a “static” approach to the position of obstacles will not be effective; their application may lead to collisions. Finding the path of movement in conditions of dynamic obstacles is an urgent task that researchers are trying to solve using various methods. The article proposes a method for planning the actions and movements of a mobile robot in non-deterministic conditions, in the presence of fixed and moving obstacles. The processes of planning the trajectories of a mobile robot in the presence of obstacles in the near zone are considered. Methods and algorithms for making decisions on avoiding obstacles based on the estimated collision probabilities in the forecast interval are proposed.