Safe Navigation of a Non-Holonomic Robot with Low Computational-power in a 2D Dynamic Environment

摘要

This paper proposes a navigation strategy for a low-computational power robot in a 2D complex environment with dynamic obstacles. In this work, a non-holonomic robot is considered. The Hybrid A* algorithm is fused with a reactive control algorithm to provide safe navigation. The Hybrid A* is a graph search-based algorithm implemented to give a near-optimal path. The reactive control is based on sliding mode control and uses the information from the onboard sensors to avoid static and dynamic obstacles. Computer simulations are performed to validate the proposed navigation algorithm.