The invention relates to the technical field of
mobile robot autonomous navigation and discloses a service
mobile robot navigation method in a dynamic environment. The service
mobile robot navigation method in the dynamic environment includes the following steps that firstly,
position tracking of people can be achieved by utilizing multiple global cameras and
robot vehicle-mounted
laser sensors in an indoor environment; secondly, the moving mode of people under a specific indoor environment site is trained according to collected samples, and the moving trend of people is predicated; thirdly, a current position and a predicated position of people are merged with an environment static obstacle raster map, and a navigation
risk probability map is generated; fourthly, a
robot navigation movement controller of a global
route planning-local
obstacle avoidance control gradational structure is adopted to control
robot navigation behavior, and safe and efficient navigation behavior of a robot under a complex dynamic environment where the robot coexists with people is ensured through controlling.