A Hybrid Global/Reactive Algorithm for Collision-Free Navigation of Mobile Ground Robots in Environments with Steady and Moving Obstacles

In this paper, we present an efficient hybrid navigation strategy for a low-computational non-holonomic mobile robot in an indoor environment with multiple static and moving objects. The Dynamic Programming is stacked with a reactive control algorithm to achieve the desired result. Dynamic Programming helps to navigate among known environments with known static obstacles. The reactive controller assists in avoiding unknown obstacles by using the onboard sensor's information. Computer simulation results validate the proposed strategy.