Hierarchical motion planning of differential-drive mobile robots in changing environments

• Main Author: Wang, Haoyi
• Other Authors: Wang Dan Wei
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/165294
• Institution: Nanyang Technological University

To operate in changing environments, AGV should have the capability to plan safe and smooth trajectories to follow. Map-based motion planning has been investigated extensively with a large number of approaches developed. However, in unknown environments, map information generally cannot be updated in real-time. In this case, a collision may happen due to outdated obstacle information. To address this challenge, a hierarchical motion planning approach is proposed in this dissertation. Firstly, the global planner is updating the global path at an assigned frequency, on the basis of the current map. Secondly, the local planner will plan an obstacle-free local path based on the global plan, the map, and the sensor’s information. The modified approaches have been validated in Gazebo simulations and real experiments.