Application of hybrid A* to an autonomous mobile robot for path planning in unstructured outdoor environments
Janko Petereit, Thomas Emter, Christian W. Frey, Thomas Kopfstedt, Andreas Beutel
Abstract
Efficient path planning is one of the main prerequisites for robust navigation of autonomous robots. Especially driving in complex environments containing both streets and unstructured regions is a challenging problem. In this paper we present the application of the Hybrid A* algorithm to a nonholonomic mobile outdoor robot in order to plan near optimal paths in mostly unknown and potentially intricate environments. The implemented algorithm is capable of generating paths with a rate of at least 10 Hz to guarantee real-time behavior.
Topics & Concepts
Mobile robotMotion planningComputer sciencePlan (archaeology)RobotPath (computing)Mobile robot navigationReal-time computingAutonomous robotArtificial intelligenceDistributed computingRobot controlComputer networkGeographyArchaeologyRobotic Path Planning AlgorithmsRobotics and Sensor-Based LocalizationAutonomous Vehicle Technology and Safety