ROBOT NAVIGATION IN PRESENCE OF DYNAMIC OBSTACLES

Abstract

Navigation is a primary task in most of the robot related problems. Special care is taken that the robot does not collide with any other object (static or dynamic). Path planning is done so that a robot can avoid col lisions and complete its assigned task. To perform a task, robot needs to traverse. This traversal is done with a proper planning. Path planning is required in most tasks done by automated robots, ranging from self driving cars to mars rovers. In most scenarios, The robot has no knowledge of en vironment. The missing information about the environment makes the task difficult. The proposed approach [1] is based on the idea given by dynam mic programming. Gazebo software simulation has been used to check the robustness of algorithm. The whole system has been implemented on the melodic distribution of ROS and Ubuntu.