Hybrid Navigation Method for Dynamic Indoor Environment Based on Mixed Potential Fields

Navigation task for highly populated indoor environment belongs to the most difficult issues in mobile robotics. Presented paper deals with a hybrid approach which combines three methods: potential fields, Voronoi diagrams and rule based path planner. Such combination takes the best of all mentioned methods to create reliable navigation system with maximum emphasis on safety. The method was verified using real mobile robot in common environment with dynamic obstacles.

[1]  Manuela Veloso,et al.  Multi-Robot Dynamic Role Assignment and Coordination Through Shared Potential Fields , 2002 .

[2]  S. Vechet,et al.  Motion Planning of Autonomous Mobile Robot in Highly Populated Dynamic Environment , 2011 .

[3]  F. Miyazaki,et al.  Safe Navigation in Unknown Dynamic Environments with Voronoi Based StRRT , 2008, 2008 IEEE/SICE International Symposium on System Integration.

[4]  Howie Choset,et al.  Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1 , 2007 .

[5]  Pedro U. Lima,et al.  Multi-Robot Systems , 2005, Innovations in Robot Mobility and Control.

[6]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[7]  Jan Hrbacek,et al.  Presentation Robot Advee , 2011 .

[8]  Li-Chen Fu,et al.  Navigation of a wheeled mobile robot in indoor environment by potential field based-fuzzy logic method , 2008, 2008 IEEE Workshop on Advanced robotics and Its Social Impacts.

[9]  Sallehuddin Mohamed Haris,et al.  Motion planning for mobile robot navigation using combine Quad-Tree Decomposition and Voronoi Diagrams , 2010, 2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE).

[10]  Simon Parsons,et al.  Principles of Robot Motion: Theory, Algorithms and Implementations by Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun, 603 pp., $60.00, ISBN 0-262-033275 , 2007, The Knowledge Engineering Review.

[11]  Sebastian Thrun,et al.  Probabilistic robotics , 2002, CACM.