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This paper investigates behavior of a single mobile robot which is navigated by an "iterated forecast and planning" scheme in an environment where multiple obstacles are moving around. This navigation scheme, which was previously proposed by the authors, searches a feasible path for a robot in (x,y,t) space by a heuristic method. The movement of each obstacle is then forecasted under the assumption that it moves with a piecewise constant velocity. The planning algorithm is iterated frequently to accommodate the actual changes in the obstacles' velocity. This paper examines various kinds of the behavior obtained by different experimental conditions in the computer simulations.>
Tsubouchi et al. (2002) studied this question.