A Hybrid Path-Planning Strategy for Mobile Robots with Limited Sensor Capabilities

Sensors

KevinB. de Carvalho¹  GuilhermeCarlos R. de Oliveira¹  AlexandreS. Brandão¹ 

[1] Núcleo de Especialização em Robótica—NERO, Departamento de Engenharia Elétrica—DEL, Universidade Federal de Viçosa—UFV, Viçosa MG 36570-900, Brazil;

关键词: path planning;    global and local planner;    hybrid strategy;    A* search;    tangential escape;   

DOI  :  10.3390/s19051049

来源: DOAJ

【 摘 要 】

This paper introduces a strategy for the path planning problem for platforms with limited sensor and processing capabilities. The proposed algorithm does not require any prior information but assumes that a mapping algorithm is used. If enough information is available, a global path planner finds sub-optimal collision-free paths within the known map. For the real time obstacle avoidance task, a simple and cost-efficient local planner is used, making the algorithm a hybrid global and local planning solution. The strategy was tested in a real, cluttered environment experiment using the Pioneer P3-DX and the Xbox 360 kinect sensor, to validate and evaluate the algorithm efficiency.

【 授权许可】

Unknown