Collision checking trajectories-based motion planning systems for autonomous mobile robots in dynamic human environments
Phuc Vinh Nguyen, Xuan Duc Vu, Cong Tan Tran, Xuan Tung Truong, Trong Nghia Le, Lan Anh Nguyen · 2023
In order to enhance the safety and efficiency of autonomous mobile robot navigation within dynamic environments, it becomes crucial for the robot to proactively anticipate potential collisions with humans. This study introduces a innovative Trajectory Elastic Band model, termed the Collision Prediction Time Elastic Band model (CPTEB), designed for online trajectory planning. The central concept behind this model revolves around the detection of possible collision trajectories between the robot and predicted human trajectories within the robot’s proximity, achieved by checking collision points. To evaluate the model’s efficacy, a series of experiments was conducted within simulated environments. The simulation results decisively highlight the robot’s proactive avoidance of humans in its vicinity, thereby ensuring the safe and effective accomplishment of its objectives.