2D Stimuli-Induced Equilibrium Point based Algorithm for Real-Time Coverage Safety in Dynamic Environment

摘要

In this paper, we propose a novel reactive navigation algorithm for obstacles avoidance in a geometrically changing environment. Our navigation strategy is intended to guide a mobile robot through a dynamic environment in a safe manner, while minimizing the coverage overlapping when traversing toward the goal. The algorithm defines stimuli-induced equilibrium points between each pair of obstacles to serve as waypoints for a robot while moving toward the target. Some simulation results are included to illustrate the robustness and satisfying performance of the proposed approach.