Obstacle Avoidance With Dynamic Avoidance Risk Region for Mobile Robots in Dynamic Environments

Uncertainty in dynamic environment increases complexity and difficulty in obstacle avoidance of robots. An avoidance method with dynamic obstacle avoidance risk region in a dynamic environment is proposed in this study. First, using the state estimation of the extended kalman filter, a dynamic obsta...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2022-07, Vol.7 (3), p.5850-5857
Main Authors: Guo, Binghua, Guo, Nan, Cen, Zhisong
Format: Article
Language:English
Subjects:
Collision avoidance
Dynamics
Extended Kalman filter
Heuristic algorithms
Mobile robots
Nonlinear control
nonlinear model predictive control
Obstacle avoidance
Predictive control
Risk
risk region
Robot control
Robots
State estimation
Trajectory
Vehicle dynamics
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Summary:Uncertainty in dynamic environment increases complexity and difficulty in obstacle avoidance of robots. An avoidance method with dynamic obstacle avoidance risk region in a dynamic environment is proposed in this study. First, using the state estimation of the extended kalman filter, a dynamic obstacle avoidance risk region is constructed along the direction of the obstacle movement. Second, the robot's safe obstacle avoidance operation against dynamic obstacles combined with nonlinear model predictive control is realized. Finally, a series of experiments are used to verify the effectiveness of the proposed method. The experimental results showed that the robot can easily control its movement and a flat obstacle avoidance trajectory is obtained via the proposed method.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3161710