Study of potential ban method for mobile robot navigation in dynamic environment

Abstract

In this paper, a new method for navigation in dynamic environment is suggested. In this method named Potential Ban (PB), it is assumed that the robot performs SLAM and autonomous navigation in dynamic environment. The robot uses PB algorithm for dynamic obstacle avoidance and its navigation trough static and dynamic objects is done without any predefined information about them. The movement of dynamic obstacles is predicted by Kalman filter and is used for collision detection purpose. Any time that possibility of a collision is detected, virtual certainties are spread trough grid map and are used for robot navigation. Several simulation and experimental tests are performed to examine the performance of PB. The results show this algorithm has great performance in term of dynamic obstacle avoidance and can be uses as a practical method for autonomous navigation.