AMR Navigation Based on Dynamic Control Sampling Space
Sara Bouraine, Idriss Hasani, Alla Djoudi, Ahmed Gourine, Boualem Kazed · 2023
This paper addresses the problem of local navigation for autonomous mobile robots in partially observable dynamic environments. The main contribution of this work is the expansion of a sampling based approach to deal with the robot and environment dynamic constraints and integrate a safety distance to keep the robot away from collisions. The developed algorithm has been implemented on a robotic platform with a Robot Operating System based embedded architecture, where it has been tested and validated in an indoor environment.