An approach to motion planning of indoor mobile robots

In this paper we present a motion planning approach of indoor mobile robots based on integration of A* path planning algorithm and dynamic window local obstacle avoidance method. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementally updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX mobile robot (manufacturer ActivMedia Robotics) using laser range sensor.