Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots

摘要

In this study, a dynamic space-time grid map is proposed to dynamic obstacles avoidance for the mobile robot in the navigation environment. In the constructed dynamic space-time grid map, the detected objects will be recognized as the static and the dynamic obstacles. The trajectory of the dynamic obstacles can be predicted in the dynamic spatio-temporal map, and then, the possible collision for the mobile robot can be prevented if there is any target dynamic obstacle that will cross the moving path of the robot. The experimental results demonstrate the feasible behavior of obstacle avoidance for the mobile robot.