A destination driven navigator with dynamic obstacle motion prediction

摘要

A real time navigating system, called destination driven navigator, is developed. The paper presents an obstacle representation method named cross-line, the 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.