Safe motion planning for mobile robots
The potential for applications of autonomous robots in urban environments is very large. Regarding the development towards smart cities in future the delivery of goods in inner-city areas will be carried out by autonomous platforms to meet the demands for higher efficiency and sustainability in urban logistic processes.
A key component of such a autonomous platform is the collision-free navigation in an unstructured and highly dynamic environment. The technical requirements for this task are very high, which makes the verification of the planned path or trajectory very challenging.
In the last few years there have been several activities in the field of motion planning methods for mobile platforms. Nonethless small advanced have been made in the development of motion planning methods which provide a verification of the planned trajectory in unstructured and dynamically changing environments.
Main objective of this research project is the development of motion planning algorithms which provide a verification of the planned trajectory. This verification has to be carried out online to guarantee the safety of the surrounding traffic participants.