A Method for Collision-free Guidance of Mobile Robots in Unknown Dynamic Environments with Moving Obstacles

Abstract

In this paper, a collision-free navigation algorithm for mobile robots is proposed. The algorithm is applied to dynamic environments. Shapes of moving obstacles may be non-convex, speed and angular velocity are variable. The algorithm is a sliding mode control law, which switches between two modes, namely, target approaching mode and obstacle avoidance mode. Moreover, a rigorous analysis of the proposed algorithm is provided and the performance is demonstrated with simulation results. It is a really practical algorithm as there is not too many assumptions for the obstacles compared with others.