Obstacle Displacement Prediction for Robot Motion Planning and Velocity Changes
Keywords:
Mobile robot, dynamic environment, neural network, path planning, speed control.Abstract
This paper introduces a new path-motion planning
method for autonomous mobile robot which should move safely
in unknown Dynamic environment. The environment may have
numbers of obstacles of arbitrary shape and obstacles are
allowed to move. We describe our approach to solve the
motion-planning problem, using neural networks-based
technique .The neural network is used to model the obstacles
motion and predict their movements. According to one step
ahead prediction of obstacle’s trajectory, a rule-based
technique for avoiding obstacles by adjusting the robot’s
velocity is suggested .This sensor based online method gives a
safe but near optimal path. Simulation examples of generated
path with proposed techniques will be presented and show the
efficiency of the method.
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