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Robot local motion planning among moving obstacles

The paper presents a local navigation system for a mobile robot. The method doesn't take into account kinematics and dynamics of the robot. The main concern of the presented approach is the decision procedure allowing to choose a speed and movement direction applying only simplified rules. The kinematics and dynamics is planned to be taken into account at the next step of the approach development. In the last section some remarks explaining how kinematics of a robot can be included are presented.