Seeking a path through the crowd: Robot navigation in unknown dynamic environments with moving obstacles based on an integrated environment representation
We present a novel algorithm for collision free navigation of a non-holonomic robot. Our approach is based on an integrated representation of the information about the environment. We provide mathematically rigorous analysis to the proposed approach. The performance is demonstrated via experiments with a real robot and computer simulations.
robot navigation unknown dynamic environments moving obstacles integrated environment representation non-holonomic robots collision avoidance obstacle avoidance wheeled mobile robots multiple obstacles