To enable an autonomous mobile robot to navigate safely in a dy- namic environment, the mobile robot must address four typical functional blocks of the navigation system including perception, localization, motion planning, and motor control. In this study, we present an integrated navigation system for the autonomous mobile robot in the dynamic environment by incorporating the techniques proposed in our previous studies, including object detection and tracking system, localization system and motion planning system, into a completed navigation system. In addition, we propose an extended timed elastic band (ETEB) technique for online trajectory planning, which allows the mobile robot to proactively avoid obstacles in the surrounding environment. We validate the effectiveness of the proposed model through a series of experiments in both simulated and real-world environments. The experimental results show that our proposed motion model is capable of driving the mobile robots to proactively avoid dynamic obstacles, providing safe navigation for the robots.
On-line Motion Planning of an Autonomous Mobile Robot to Avoid Multiple Moving Obstacles Based on the Prediction of Their Future Trajectories.
