Mobile robot navigation method for environment with dynamical obstacles

摘要

The analysis of global and local navigation methods for an autonomous mobile robot allowed to select the main lacks of existent methods of navigation. The improved local navigation method based on the use of potential fields for movement taking into account the gradient of direction to the goal is proposed. Also the round of blocking obstacles is foreseen in a method. That allows to the mobile robot to go out from local minimums (deadlocks) with the control of returning on the previous trajectory of movement. The imitation design and research of the proposed method is conducted on the real base of the mobile robot Amigo.