Approaching path planning in dynamic environment
Marta Galvan · 2019
The project aims at the implementation on a mobile robot of a path planning algorithm for approaching a person in a dynamic environment, and in a natural human-like manner. The procedure finds out a feasible path for the robot between a set of candidate ones, computed using splines; to keep the computation of the trajectories constantly updated depending on the entities present in the environment, the planner is run in real-time, and the Extended Social Force Model has been also included.