Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles

Abstract: In this work we study a navigation problem for a nonholonomic differential drive robotoperating in the environment with static and dynamic obstacles. We present a multi-phaseapproach to solve it, which is based on heuristic search to tackle the trajectory planning problemand specific methods of the control theory to solve the path following problem. Results of theexperimental evaluation show that the suggested controller is one order of magnitude faster thanthe widely used in robotics Model-Predictive Control (MPC) and is capable of accuratelyfollowing the reference trajectory. On the planning side we show that the suggested planner isscalable and is able to plan in reasonable time. © 2022, Pleiades Publishing, Ltd.