Online motion planning and control for mobile robot navigation in unknown environment

Abstract

In this dissertation, we proposed a robust and efficient navigation system for mobile robotics navigation in unknown environments. The navigation system mainly contains mapping, planning, and control modules. The mapping module receives sensor information and updates obstacle information into a local map for use by the planning module. The planning module is divided into two parts, the front-end, and the back-end. The front-end adopts the A⇤ algorithm to find a global path, and then the waypoints of the global path are inflated to generate safe corridors for the back-end. The back-end optimizes the smooth, safe and dynamic feasible trajectory which is represented by piecewise Bezier curves form. The control module receives the trajectory from the planner and controls the robot to track the desired trajectory accurately. The proposed navigation system is equipped with a differential-wheeled robot and validated by autonomous navigation experiments and hybrid obstacle avoidance experiments.