Local path planner for mobile robot in dynamic environment based on distance time transform method

Takeshi Ohki, Keiji Nagatani, Kazuya Yoshida

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


For unknown field explorations in disaster areas, mobile robots that can replace human workers in dangerous environments can greatly improve disaster response efforts by reducing additional risk to human life. However, realizing such robot systems requires various technologies. In particular, path planning is quite important because mobile robots in the real world are surrounded by dynamic obstacles such as people, which may hinder a robots activities. In this research, we propose a collision avoidance method for a mobile robot in dynamic environments, considering the near-term motion and personal space of dynamic obstacles. Our method consists of the following three steps: estimation, conversion, and planning. In the estimation step, dynamic and static obstacles are recognized and their future positions are estimated from their previous motions. Next, in the conversion step, a time axis is added to construct a 3-D time-space coordinate system. Finally, in the planning step, a distance-time transform is applied to plan a safe 3-D path from the robot's current position to the desired goal. The proposed method has been implemented on our mobile robot and mobile robot simulator and experiments were conducted to verify its usefulness.

Original languageEnglish
Pages (from-to)1623-1647
Number of pages25
JournalAdvanced Robotics
Issue number14
Publication statusPublished - 2012 Sep 1


  • collision avoidance
  • distance time transform
  • mobile robot
  • path planning
  • personal space

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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