Cost of optimal mutual collision avoidance dynamic window approach using critic

摘要

Methods and systems for navigating robots along target paths and avoiding obstacles. The method includes a step of receiving a target pose of one or more robots and a step of determining a target path for the first robot while avoiding moving and fixed obstacles in the received obstacle map. The steps of evaluating the first objective function, selecting the recommended speed from the generated set of candidate speeds, and selecting are based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of one or more robots and the recommended velocity is used in evaluating a second objective function to determine the robot's movement in the next time cycle. To. The steps of creating a set of velocities include converting the recommended velocities from nonholonomic velocities to holonomic velocities.