(1) Ecole Polytechnique de Montréal, 2500 Chemin de Polytechnique, Montreal, Québec, H3T1J4, Canada;(2) école de Technologie Supérieure, 1100, rue Notre-Dame Ouest, Montreal, Québec, H3ClK3, Canada
Abstract:
This paper proposes a new approach for trajectory optimization of a mobile robot in a general dynamic environment. The new
method combines the static and dynamic modes of trajectory planning to provide an algorithm that gives fast and optimal solutions
for static environments, and generates a new path when an unexpected situation occurs. The particularity of the method is
in the representation of the static environment in a judicious way facilitating the path planning and reducing the processing
time. Moreover, when an unexpected obstacle blocks the robot trajectory, the method uses the robot sensors to detect the obstacle,
finds a best way to circumvent it and then resumes its path toward the desired destination. Experimental results showed the
effectiveness of the proposed approach.