A Hybrid Algorithm for Collision-Free Navigation of a Non-Holonomic Ground Robot in Dynamic Environments with Steady and Moving Obstacles

摘要

This paper proposes a novel hybrid navigation for collision-free movement in a dynamic environment. It considers vehicle operating in obstacles that are both stationary and moving. The proposed method combines global path planning with reactive methods to guarantee safe navigation. This hybrid method provides an optimal solution for safe navigation in a partially-known, dynamic environment by combining the benefits of global and reactive navigation to overcome the limitations of relying primarily on one of them. Computer simulations are conducted to validate the performance of the proposed method.