An approach to motion planning of indoor mobile robots

In this paper we propose an approach to motion planning of indoor mobile robots based on integration of A* path planning algorithm and dynamic window local obstacle avoidance method. A simple and efficient procedure to selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementally updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX robot using laser range sensor.