Design of an Intelligent Navigation Strategy to Deal With Unexpected Dynamic Obstacles

Abstract

This paper deals with the problem of navigating through a poorly known environment cluttered with both static and dynamic obstacles. The proposed strategy relies on two controllers allowing to reach the goal and to avoid the obstacles. Two contributions can be highlighted: (i) the definition of a safe avoidance distance which can be adequately modified during the mission if a moving obstacle is encountered; and (ii) the choice of a sense of motion depending on the obstacle motion. Simulation results validate the proposed strategy.