Application of parameter space discretization for local navigation among moving obstacles

摘要

The paper presents an approach to the problem of local navigation among moving obstacles. The main feature of the approach is the discretization of the space of parameters describing movements of obstacles. The assumption of the method is that obstacles move along straight lines. This approach allows one to compute off-line admissible controls for all expected values of parameters defining an obstacle movement. Therefore, to solve the local navigation problem a look-at-table technique can be applied. This technique allows one to reduce the time of computation significantly. The example of experiments shows that the method can be used to find a solution for non-trivial cases.