Ghasem Alizadeh - Control Engineering Department, Faculty of Electrical & Computer Engineering University of Tabriz, Tabriz, Iran
Hamid Ghadiri
Reza Dalayimilan

The motion planning and control problem is a well-known problem in the field of robotics. The objective is to find collision-free trajectories for a robot, in static or dynamic environments containing some obstacles, between a start and a goal configuration. In this context the term control has a broad meaning that includes many different controls, such as low-level motor control, and behaviour control, where behaviour represents many complicated tasks, like obstacle avoidance and goal seeking. This paper describes a method for obstacle avoidance and navigation of mobile Robot in dynamic environment that this mobile robot is called KheperaII. Environment of simulation consists of dynamic and static obstacles and targets. A simulation is done with the help of MATLAB and the KIKS package, representing the results. Results of simulation is compared with potential field and seen that our method is better.

On-line motion planning, obstacle avoidance, local navigation, mobile robot, Simulation, KheperaII