Motion planning based on relative coordinates in dynamic environments for mobile robot

This paper focuses on motion planning in dynamic environments that exists dynamic obstacle and moving goal. It is based on the relative coordinates and acceleration space coordinates and it includes two behaviors: obstacle avoidance and moving to the goal. The behavior of avoidance is reactive, and the behavior of moving to the goal is considered as a reverse problem of the avoidance. The switch between two behaviors is based on the acceleration space coordinates. The experiment results verify its validity.