Chapter 3.3 – Planning and Obstacle Avoidance in Mobile Robotics1

This chapter focuses on the navigation subsystem of a mobile robot which operates in human environments to carry out different tasks, such as transporting waste in hospitals or escorting people in exhibitions. The chapter describes a hybrid approach (Roaming Trails), which integrates a priori knowledge of the environment with local perceptions in order to carry out the assigned tasks efficiently and safely: that is, by guaranteeing that the robot can never be trapped in deadlocks even when operating within a partially unknown dynamic environment. This chapter includes a discussion about the properties of the approach, as well as experimental results recorded during real-world experiments.

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