Dynamic Window Approach with Optimal Mutual Collision Prevention in Cost Determination

摘要

A method and system are disclosed for navigating a robot along a target path while avoiding obstacles. The method includes receiving a target pose for one or more robots and determining a target path for a first robot while avoiding stationary obstacles and movement of the received obstacle map. A first objective function is evaluated to select a preferred velocity from the generated set of candidate velocities, the selection being based on one or more weighted cost functions. The set of velocity obstacles generated based on the pose and preferred velocity of the one or more robots is used to evaluate a second objective function to determine the movement of the robot in the next time cycle. Creating the set of velocity obstacles includes converting a preferred velocity from a non-holonomic to a holonomic velocity.