Abstract
In this paper, we proposed a novel path planning and speed control method for autonomous mobile robot under dynamic environment. The robot not only needs to avoid stationary objects such as walls and obstacles, but also needs to consider mobile objects such as human beings and pets. In order to avoid the collisions with mobile objects, the robot should be able to predict the motion of the objects, plan its moving path, and control its speed to move towards the destination while avoiding the mobile objects. Previous researches tried to solve this problem by using a spatiotemporal RRT method, which can spatiotemporally predict the motion of mobile objects and plan the path of the robot. However, dangerous paths that go through the places nearby the objects may be generated, as it does not consider the moving ambiguity of the mobile objects. Thus we proposed a method to plan paths which leave away from the dynamic obstacles by changing the local sampling probability. Simulation results show the usefulness of the proposed method.
