Disordered and Multiple Destinations Path Planning Methods for Mobile Robot in Dynamic Environment

Table 1

Collision avoidance strategy.

Type of collision	Collision avoidance strategy
Side collision	Waiting strategy: the robot waits for unit time in the current position, which can avoid the collision with dynamic obstacles.
Collision after turning	Rollback strategy: because the motion direction of the robot on the last step is not on the same line with the dynamic obstacle, the robot just needs back up one step, which can avoid collision.
Other collisions	Hiding in the nearby: the robot finds a point as the collision avoidance point in the vicinity of the current location. After avoiding dynamic obstacles successfully, it goes back to the current position.