A NEW METHOD OF REAL-TIME NAVIGATION AND OBSTACLE AVOIDANCE FOR MOBILE ROBOT IN DYNAMIC ENVIRONMENT

摘要

The paper proposes a new method of real time navigation and obstacle avoidance for mobile robot in dynamic environment. This method consists of the combination of improved Grids method and recurrent predication method based on the information of ultrasonic sensors. In the improved Grids method, we only record information quantities having obstacles for unit in grids which are much less than one of original record grids. The problem of a large number of information storage of an environment is solved. The application of Grids method will become a possibility. The position of moving obstacles is predicated by using recurrent predication method. After finding a solution of optimum candidate sector with improved Grids method, the mobile robot will avoid static and dynamic obstacles to implement navigation towards the target. Three simulation experiment results demonstrate the effectiveness and correctiveness of the method.