Autonomous navigation in a known dynamic environment

摘要

This paper proposes a method for the navigation of an autonomous robot used inside a building. The main problem to be solved in this issue is the need to use both a priori information on the environment and momentary sensor data in an intelligent way, and thus make the robot capable of finding its way around while also avoiding the obstacles, both static and dynamic. In the paper, a hybrid navigation method is proposed, using two techniques that deal with a priori information and sensory data separately. An algorithm for finding the optimal route to the goal using a priori information is suggested. The properties of the complete system are verified by computer simulation.