Network optimization for sensor based robotic navigation with moving obstacles

The problem of finding a path for the motion of a mobile robot from a starting point to a fixed target in a two dimensional domain is considered in the presence of arbitrary shaped obstacles moving in the workspace with arbitrary direction and velocity also arbitrary but small respect to that of the robot itself. No a priori information is known in advance about the geometry of the workspace nor about the number, extension and location of obstacles. The robot has a sensing device that detects obstacles or pieces of walls lying beyond a fixed view range. The problem is embedded in a graph optimization framework and a new algorithm is proposed, characterized by little computer power requirements. Theoretical and practical aspects of the algorithm are investigated. Numerical examples are reported showing the effectiveness of the approach in practical operations. Copyright (C) 1998 IFAC.