A Hybrid Global/Reactive Algorithm for Collision-Free Navigation of Mobile Ground Robots in Environments with Steady and Moving Obstacles

In this paper, we present an efficient hybrid navigation strategy for a low-computational non-holonomic mobile robot in an indoor environment with multiple static and moving objects. The Dynamic Programming is stacked with a reactive control algorithm to achieve the desired result. Dynamic Programmi...

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Bibliographic Details
Published in:2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 1321 - 1326
Main Authors: Verma, Satish Chandra, Savkin, Andrey V.
Format: Conference Proceeding
Language:English
Published: IEEE 05.12.2022
Subjects:
Computer simulation
Dynamic programming
Ecosystems
Heuristic algorithms
Navigation
Robot sensing systems
Wireless communication
Online Access:Get full text
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Summary:In this paper, we present an efficient hybrid navigation strategy for a low-computational non-holonomic mobile robot in an indoor environment with multiple static and moving objects. The Dynamic Programming is stacked with a reactive control algorithm to achieve the desired result. Dynamic Programming helps to navigate among known environments with known static obstacles. The reactive controller assists in avoiding unknown obstacles by using the onboard sensor's information. Computer simulation results validate the proposed strategy.
DOI:10.1109/ROBIO55434.2022.10011770