Control of the Behavior Dynamics for Motion Planning of Mobile Robots

A new approach to the motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics is proposed. The fundamental behavior of a mobile robot in motion planning, which is regarded as a dynamic process of the interaction between the robot and its local environment, is modeled and controlled for the motion planning purpose. The behavior dynamics is the law in a dynamic process that the involved objects must obey, and it is controlled by the robot’s dynamics. Based on the control of the behavior dynamics, the dynamic motion-planning problem of the mobile robots is transformed into a control problem of the integrated planning-and-control system. No restrictions are assumed on the shape and trajectories of obstacles. Collision avoidance between multiple mobile robots can also be realized. The stability of the integrated planning-and-control system can be easily guaranteed. Simulations illustrate our results. [Nature and Science. 2004;2(4):57-64].