Sensor-based motion planning of a mobile robot in a dynamic environment

Most research in robotics did not consider the motion of obstacles and therefore the applications were limited. In this paper, we present a design and implementation of a navigation system for a mobile robot in a dynamic environment. The proposed system has the following functions: sensor data fusion, obstacle avoidance (static and moving obstacles), environment information updating, and real-time path planning and replanning. These functions should be executed almost simultaneously. To achieve this goal, a blackboard architecture has been adopted to coordinate the computation. Experimental navigation results are presented and discussed.