On-line Motion Planning of an Autonomous Mobile Robot to Avoid Multiple Moving Obstacles Based on the Prediction of Their Future Trajectories

goal while avoiding multiple moving obstacles such as people and other mobile robots. The future trajectories of the obstacles depend on the future motion of the robot, since each obstacle also avoids other obstacles, including the robot. In other words, each obstacle has its own•emotion principle•fwhich determines its motion from the location of its goal and the motion of other obstacles. In this study, the robot infers the principles of all obstacles in its sensing area from their trajectories observed in real time. This means it can predict their future trajectories, which are influenced