A Hybrid Strategy for Safe Navigation of Mobile Robots in Partially-Known Dynamic Environments

摘要

This paper proposes a new hybrid strategy for the navigation of mobile robots. It considers vehicles operating in partially-known/dynamic environments. The proposed strategy combines both global path planning and reactive approaches to achieve safe navigation. This hybrid approach provides a better solution for the safe navigation problem by attaining the advantages of both global planning and reactive navigation to overcome the shortcomings of relying purely on one of them. Such advantages are escaping potential trapping situations and reacting quickly to perceived unknown and dynamic obstacles. Computer simulations are carried out to confirm the performance of the proposed approach.