A Safe Motion Planning Framework for Mobile Robots Based on Homotopy Topology and FRS/BRS Spatiotemporal Corridors

This paper presents a novel safety motion planning framework for mobile robots operating in dynamic environments, addressing the challenges of dynamic feasibility, safety robustness, and real-time responsiveness. The proposed framework integrates homotopy topology-based hierarchical search, FRS/BRS spatiotemporal corridor pruning, and FRS-based safety validation. By utilizing homotopy topology, the framework ensures global path optimization while reducing search redundancy. The FRS/BRS corridor pruning technique improves real-time performance by discarding infeasible or unsafe regions, achieving planning frequencies of 10-15 Hz. The framework was experimentally validated and compared against several state-of-the-art algorithms. The results demonstrate that the proposed framework outperforms the baseline algorithms with a 97.8% success rate and a low collision rate of 2.2%, providing superior path quality and real-time performance in dynamic environments. The framework offers a promising solution for real-time, high-quality motion planning in dynamic indoor environments.