Local Path Planning of Mobile Robots in Dynamic Unknown Environment Based on Prediction of Collision

Abstract

The velocity and its distribution of obstacles isobserved by an adaptive Unscented Kalman Filter, based onwhich the position of the dangerous region (potential collisionregion) is predicted. And based on its distribution, thedangerous region is expanded to ensure the security. Byfinding the best “Free Road” and estimate the “danger”, a datareduction technique is employed to compress all theinformation needed, with the help of which the efficiency isimproved significantly. Benefit from those the proposedalgorithm gets a better performance in dynamic environment.The results of simulations have proved that.