A Hybrid Path-Planning Strategy for Mobile Robots with Limited Sensor Capabilities
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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.
2021 ◽
pp. 095441002110166
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2017 ◽
Vol 14
(4)
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pp. 297-306
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Keyword(s):
2012 ◽
Vol 616-618
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pp. 2153-2157
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2018 ◽