A collision-free navigation scheme in the presence of moving obstacles

A collision-free navigation scheme for an autonomous vehicle is presented. An attempt is made toward establishing a more realistic navigational environment by considering moving obstacles with unknown trajectories. A collision-free path between the current location and a desired location of the vehicle is obtained, based on future positions of the obstacles. The future positions are predicted using an autoregressive (AR) model. A simulation example is implemented where this scheme is applied to a mobile robot in the presence of two moving objects.<
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