A Destination Driven Navigator with Dynamic Obstacle Motion Prediction
نویسندگان
چکیده
A real time navigating system, called Destination Driven Navigator, is developed. This paper presents a new obstacle representation method named Cross-Line, a new concept “work space” to reduce the robot’s search space and the environment storage cost, an Adapted Regression Model to predict the dynamic obstacles’ motion, and the Multi-State Path Repair rules to quickly translate an infeasible path into feasible one, the path-planning algorithm and Destination Driven Navigator to guide a mobile robot traveling in dynamic environments and reach a destination safely. A group of experimental results is conducted that exhibit that the Destination Driven Navigator is a powerful and effective paradigm for robot motion planning and obstacle avoidance.
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