Abstract:

The robot navigation problem with behavior dynamics is researched, but there exists the risk of collision in dynamic environment. An improved iterative closest point method is proposed to obtain the posture change on obstacles in real time. The obstacles are divided into stationary obstacles and moving ones based on the information of the posture change. A novel concept of a perceivable velocity obstacle (PVO) is proposed, and a sort of virtual obstacle is defined, which is an expanded avoidance area along obstacle’s relative motion direction. PVO is regarded as an obstacle and is used in the behavior dynamics method to complete the control of r〖JP2〗obot’s navigation. The improved behavior dynamics method adds the security navigation function without modi〖JP〗fying the original method, so it is simple to put into use. The simulations demonstrate that the improved method is more security than the original method in dynamic environment.