Dynamic generation of subgoals for autonomous mobile robots using local feedback information

An algorithm is presented for using a local feedback information to generate subgoals for driving an autonomous mobile robot (AMR) along a collision-free trajectory to a goal. The subgoals section algorithm (SSA) updates subgoal positions while the AMR is moving so that continuous motion is achieved without stopping to replan a path when new sensor data becomes available. Assuming a finite number of polynomial obstacles (i.e. the internal representation of the local environment in terms of a 2-D map with linear obstacles boundaries) and a dynamic steering control algorithm (SCA) capable of driving the AMR to safe subgoals, it is shown that the feedback algorithm for subgoal selection will direct the AMR along a collision-free trajectory to the final goal in finite time. Properties of the algorithm are illustrated by simulation examples