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Risk-RRT∗: A robot motion planning algorithm for the human robot coexisting environment

In the human robot coexisting environment, to reach the goal efficiently and safely is very meaningful for the mobile service robot. In this paper, a Risk based Rapidly-exploring Random Tree for optimal motion planning (Risk-RRT∗) algorithm is proposed by combining the comfort and collision risk (CCR) map with the RRT∗ algorithm, which provides a variant of the RRT∗ algorithm in the dynamic human robot coexisting environment. In the experiments, the time cost in the navigation process and the length of the trajectory are utilized for the evaluation of the proposed algorithm. A comparison with the Risk-RRT algorithm is carried out and experimental results reveal that our proposed algorithm can achieve a better performance than that of the Risk-RRT in both static and dynamic environments.