A Proactive Trajectory Planning Algorithm for Autonomous Mobile Robots in Dynamic Social Environments

This paper proposes a proactive trajectory planning algorithm for autonomous mobile robots in dynamic social environments. The main idea of the proposed proactive timed elastic band (PTEB) system is to combine the advantages of the timed elastic band (TEB) technique and the hybrid reciprocal velocity obstacle (HRVO) model by incorporating the potential collision generated by the HRVO model into the objective function of the TEB technique. The output of the proposed PTEB system is the optimal trajectory, which enables the mobile robots to navigate safely in the dynamic social environments. We validate the effectiveness of the proposed model through a series of experiments in simulation environments. The simulation results show that, our proposed motion model is capable of driving the mobile robots to proactively avoid dynamic obstacles, providing the safe navigation for the robots.