ROBOT MOTION PLAN AND CONTROL RELATIVE TO STOCHASTIC MOVING OBSTACLES

This article introduces the problem of robot motionplan and control strategy corresponding to the dynamic environment (forexample collision avoidance with moving obstacles and attacking goals etc). Theglobal optimal path/velocity space planning and their characteristics are analyzed. The article mainly deals with the planning problem aiming at stochastic motion obstacles or goals, constructs the corresponding solutions and gives comparisons with some traditional methods. The simulation resultsproved the effectiveness of the method.