AN EFFICIENT NAVIGATION SYSTEM FOR AUTONOMOUS MOBILE ROBOTS IN DYNAMIC SOCIAL ENVIRONMENTS

Lan A. Nguyen,∗ Trung D. Ngo,∗∗ Trung D. Pham,∗ and Xuan T. Truong∗

Keywords

Dynamic window approach, hybrid reciprocal velocity obstacles,autonomous mobile robot, navigation system, motion planningsystem, proactive collision avoidance

Abstract

In this paper, we propose an efficient navigation framework for autonomous mobile robots in dynamic social environments. The main idea of the proposed enhanced dynamic window approach (EDWA) model is to combine the advantages of the dynamic window approach (DWA) technique and the hybrid reciprocal velocity obstacles (HRVO) technique by taking into account the output velocity vector of the HRVO method into the objective function of the conventional DWA model. The proposed EDWA model’s output is the efficient control command for the mobile robots. To validate the effectiveness of the proposed EDWA model, we conduct a series of experiments in both simulated and real-world environments. The results illustrate that our proposed EDWA model enables the robots to proactively and safely avoid dynamic obstacles in its vicinity.

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