An AprioriAll Based Method for Guiding a Robot in Dynamic Environment

This paper describes a novel method for guiding a robot in an environment containing moving objects. The robot predicts the motions of the objects and plans a collision-free path to the goal. It is a hybrid method that combines local and global approaches. This paper describes two new predicting algorithms, which are based on the AprioriAll algorithm, and one planning algorithm that is based on heuristic search. This method has been tested via a framework using a simulation environment. The results have shown that the robot succeeds in reaching the goal via collision-free paths at an average rate of about 94%.