Path planning of mobile robot in local unknown environment

Abstract

Based on path planning of mobile robot in local unknown environment, a new method which combines the benefits of global and local path planner is proposed. The global path planner uses A*algorithm to generate a series of optimal nodes to the target node, and cut some redundant of which to generate global guide path with more exact guiding direction. And the local planner makes full use of the real-time local environmental information detected by the robot and the path planning is optimize on-line under the conduct of global guide path. This method combines global guiding and local optimization in an effective way and so it is well suitable for local unknown environment.