A motion control algorithm for nonholonomic robots in dynamic environments

A motion control algorithm for nonholonomic robots operating in an environment composed of fixed and moving obstacles has been developed. The algorithm is based on range measurements and does not have a priori information on the number, location, and characteristics of the objects. The algorithm is based on a method for estimating the position and velocity of moving obstacles and a scheme to detect collisions with them. A set of motion plans is constructed and, for each plan, the likelihood of a collision with moving objects is calculated. The robot moves in the direction that will avoid collisions. Several simulation examples are presented which show the performance of the algorithm