Implementation of a Mobile Robot Platform Navigating in Dynamic Environment

摘要

Currently, problems of autonomous wheeled mobile robots in unknown environments are great challenge. Obstacle avoidance and path planning are the back bone of autonomous control as it makes robot able to reach its destination without collision. Dodging obstacles in dynamic and uncertain environment is the most complex part of obstacle avoidance and path planning tasks. This work deals with the implementation of an easy approach of static and dynamic obstacles avoidance. The robot starts by executing a free optimal path loaded into its controller; then, it uses its sensors to avoid the unexpected obstacles which may occur in that path during navigation.