Abstract:
This paper proposes a realistic navigation method of the autonomous mobile robot in dynamical
environment where multiple obstacles are always changing their velocities. Considering characteristics
of actual sensor system, a method to estimate the velocity of moving obstacles is presented. The
estimated velocity and measured distance from the nearest obstacle are used to plan a velocity and
path of mobile robot based on simple rules of Cellular Automata (CA) with Probabilistic Road Maps
(PRMs) approach. The whole navigation method is presented in real-time 3-D GazebolPlayer and 2-D
Stage/Player (Distributed Robotics Software), which shows successfully the simplicity and
effectiveness of this new navigation methodology.
