Real-time Dynamic Obstacle Avoidance For A Non-holonomic Mobile Robot

Mukhtar Sani, Ahmad Hably, Bogdan Robu, Jonathan Dumon, Nacim Meslem

Abstract: This paper presents the experimental validation of a real-time nonlinear model predictive control algorithm developed to deal with dynamic and static obstacle avoidance for a non-holonomic wheeled mobile robot. Unlike state-of-the-art techniques, the speed of the dynamic obstacle is unknown to the controller. The developed controller autonomously drives the robot away from the obstacle by calculating the minimal distance from which the avoidance maneuver starts. Several real-time experimental results for stabilizing a mobile robot in presence of dynamic and static obstacles are presented.