Abstract:
This paper considers the dynamic avoiding collision problem of mobile robot for multi-moving obstacles. Firstly, the speed of mobile robot is decomposed into the goal direction and the obstacle avoidance direction speed. And then, by analyzing the angle between the relative speed and the relative position of the robot, the obstacle avoidance direction speed can be changed so as to avoid the dynamic obstacles safely. Simulation results show that the proposed methods effectively overcome conservativeness of collision-avoidance planning, and can ensure the mobile robot to safely reach the target in a dynamic environment with multi-moving obstacles.