Autonomous navigation of mobile robots with avoidance of moving obstacles

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Supervisor:
Dr. Kiss Bálint
Department of Control Engineering and Information Technology

This thesis aims at establishing a method for mobile robot navigation that is capable of motion planning in dynamic and cluttered environments. The method consists of a map based global planner called Field D* that ensures the robots collsion free paths, a local planner that smoothens the paths generated by the global planner and finally a time-scaling based motion planner that can handle an arbitrary number of dynamic obstacles via generating an approprite velocity along the path. All parts of the navigation system is ideal for real-time implementation.

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