A navigation of mobile robots with collision avoidance for moving obstacles

This paper presents a collision avoidance technique of mobile robots for moving obstacles in unknown environments. The cooperative collision avoidance technique which had been proposed for collision avoidance between multiple mobile robots is modified and is extended to the moving obstacles case. Collision avoidance conditions for two typical aspects under which the robot encounters a moving obstacle are derived and are used as a guideline for designing the navigation parameters. The effectiveness of the proposed technique was demonstrated by numerical simulation examples.