Dynamic Obstacle Avoidance Based on A Dynamic Space-Time Grid Map for Mobile Robots

Jyun Hong He, Yen Lin Chen, Hsin Han Chiang, Hsiao Chi Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study, a dynamic space-time grid map is proposed to dynamic obstacles avoidance for the mobile robot in the navigation environment. In the constructed dynamic space-time grid map, the detected objects will be recognized as the static and the dynamic obstacles. The trajectory of the dynamic obstacles can be predicted in the dynamic spatio-temporal map, and then, the possible collision for the mobile robot can be prevented if there is any target dynamic obstacle that will cross the moving path of the robot. The experimental results demonstrate the feasible behavior of obstacle avoidance for the mobile robot.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Consumer Electronics, ICCE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728197661
DOIs
Publication statusPublished - 2021 Jan 10
Event2021 IEEE International Conference on Consumer Electronics, ICCE 2021 - Las Vegas, United States
Duration: 2021 Jan 102021 Jan 12

Publication series

NameDigest of Technical Papers - IEEE International Conference on Consumer Electronics
Volume2021-January
ISSN (Print)0747-668X

Conference

Conference2021 IEEE International Conference on Consumer Electronics, ICCE 2021
Country/TerritoryUnited States
CityLas Vegas
Period2021/01/102021/01/12

Keywords

  • dynamic space-time grid map
  • Mobile robot navigation
  • moving obstacle detection
  • real-time path planning

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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