Motion planning for mobile robots in dynamic environment

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Supervisor:
Gincsainé Dr. Szádeczky-Kardoss Emese
Department of Control Engineering and Information Technology

We are living in the time of the 4th industrial revolution. Over the past 20 years technology has developed more than it has in the last 300 years. Robot technology is one of the main flagships of this huge industrial development.

The main task of a mobile robot is to reach the goal from a start position. As a main criterion, we always need to guarantee a collision-free motion among the obstacles, while the robot is moving from the start to the target position. This way, we can ensure the safety of the robot and the environment. We can use the motion planning algorithms to plan this movement.

The main purpose of my work was to develop and implement a motion planning algorithm in Matlab that can calculate the robot’s trajectory and velocity profiles at the same time. This algorithm also has to be capable of avoiding static and moving obstacles while the robot is moving in the workspace. I used the Velocity Obstacles method, which is suitable for motion planning of mobile robots in a dynamic environment.

With this method, I carried out evasive maneuvers by using information about actual velocity and actual position of the robot and obstacles. To choose the velocity of the robot I used two heuristic search methods (To Goal, Maximum Velocity). In my work, I presented these two methods and I also compared them.

I always presented simulations of the result of the robot’s motion planning and I made videos of the motion of the robot and the obstacles.

This motion planning algorithm is suitable for motion planning of autonomous vehicles, so in the future there are a lot of opportunities for further development.

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