A hybrid approach for mobile robot path planning in dynamic environments

Abstract

A strategy based on both the benefit of global path planer and local path planner and the benefit of deliberate path planner and reactive path planner is proposed for indoor mobile robot navigation in unstructured and dynamic environments. Global path planner uses A* method to generate a series of sub- goal points to the target point, and local path planner adopts an improved potential field method to smooth the path between the pre-planned sub-goal points. This method can not only effectively generate a global optimal path using the known information, but also handle the unknown obstacles in the dynamic environments in time. The satisfactory performance of our algorithm is validated via simulations and realistic operating conditions.