A time stamp control strategy for CBR based reactive navigation in dynamic environments with priorities

摘要

This work presents a CBR based reactive navigation system for autonomous robots. The main advantage of the proposed system is that it learns by experience how to deal with unexpected situations in dynamic environments. A time stamp control method has been included to deal with mobile obstacles in intersections, where there are priorities depending on the relative positions of those obstacles and the robot. The proposed strategy has been successfully tested in real environments.